SYSMAC C200H-NC111 Position Control Unit

Cat. No. W137-E1-04

Position Control Unit

SYSMAC

C200H-NC111

SYSMAC C200H-NC111Position Control Unit

Operation Manual

Revised September 2003

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Notice:OMRON products are manufactured for use according to proper procedures by a qualified operatorand only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heedthe information provided with them. Failure to heed precautions can result in injury to people or dam-age to property.

DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death orserious injury.

WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death orserious injury.

Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor ormoderate injury, or property damage.

OMRON Product ReferencesAll OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refersto an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for any-thing else.

Visual AidsThe following headings appear in the left column of the manual to help you locate different types ofinformation.

Note Indicates information of particular interest for efficient and convenient operationof the product.

1, 2, 3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

OMRON, 1990All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in anyform, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permis-sion of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON isconstantly striving to improve its high–quality products, the information contained in this manual is subject to changewithout notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes noresponsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the informa-tion contained in this publication.

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TABLE OF CONTENTS

PRECAUTIONS xi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Intended Audience xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 General Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Safety Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Operating Environment Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Application Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 1Introduction 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–2 Components 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–3 System Configuration 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–4 Control System Principles 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2Before Operation 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–1 Switch Settings 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–2 Wiring 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–3 Dimensions 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3Operation 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–1 Operational Flow 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–2 Output Pulses 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–3 Writing Data 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–4 Data Configuration and Allocation 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–5 IR Area Data Format 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–6 Flags and Other Input Data 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–7 DM Area Allocation 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4Commands 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1 Start 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–2 Origin Search 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–3 Origin Return 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–4 Release Prohibit 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–5 Read Error 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–6 Reset Origin 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–7 Teach 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–8 Transfer Data 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–9 Manual Operations 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–10 External Interrupt Commands 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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SECTION 5Programming Examples 91. . . . . . . . . . . . . . . . . . . . . . . . . .

5–1 Operation with Minimum Data: Displaying JOG Positions 92. . . . . . . . . . . . . . . . . . . . . . . 5–2 Positioning at Intervals: Using RESET ORIGIN 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–3 Feeding Selectively with START 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–4 Transfer Data from Other PC Areas 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–5 Transfer Data from External Switches 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–6 Using START to Carry Out Positioning Actions 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–7 Using Origin and Origin Proximity Signals 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–8 Using Zones to Control Jogging 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–9 Controlling an R88D-EP06 Servodriver 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–10 Controlling a V-series Servodriver 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 6Error Processing 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–1 Alarms and Errors 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–2 Outputs to the IR Area 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–3 Alarm/Error Indicators 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–4 Troubleshooting from the PC 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–5 Basic Troubleshooting Chart 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–6 Detection of Abnormal Pulse Outputs 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

AppendicesA Alarm Code List 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B Error Code List 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C DM Area Allocations 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D IR Area Allocations 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E Specifications 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F Standard Models 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Revision History 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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About this Manual:

The C200H–NC111 Position Control Unit is a Special I/O Unit for C200H PCs. It is designed to controlequipment positioning through pulse train outputs to a motor driver. The degree of movement isbased on the program installed into the PC and the external control inputs.

This manual covers the specifications and procedures necessary for installation and efficient opera-tion. Before attempting to operate the C200H Position Control Unit, be sure to thoroughly familiarizeyourself with the information contained within this and any other relevant manuals.

Section 1 describes the basic features and components of the Position Control Unit. It also gives de-tails on configurations for positioning control systems and their principles of operation.

Section 2 describes how to incorporate the Positioning Control Unit into a system. It provides infor-mation on how to set switches so that the Unit provides the desired operating functions. It also givesmounting and wiring information.

Section 3 gives details on the procedures for setting up and operating a positioning control system. Itincludes information on PC operations (such as flags, zone settings, the range of output pulses, back-lash compensation, etc.), data areas and data formats.

Section 4 outlines the thirteen commands available on the Positioning Control Unit. It describes eachcommand, how it works, the data required,and the data areas used. Examples are given (in timingchart form) which show the status of the relevant inputs, outputs, bits, and flags during the executionof the commands.

Section 5 provides programming examples which give practical illustrations of how the PositioningControl Unit commands can be used to implement effective positioning control.

Section 6 explains various error and alarm conditions and the steps that can be taken to avoid and/orprevent them.

Appendix A provides more detailed information on alarm codes, including the type of operations inwhich the alarm may arise, the type of error, the alarm code, and the most probable cause.

Appendix B lists the error codes in numeric sequence and provides information on the cause of, andremedy for, the existing problem.

Appendix C describes the functions that each of the different parts of the DM Area performs.

Appendix D describes the functions for which each of the different parts of the IR Area can be used.

Appendix E provides the performance and electrical specifications for the Positioning Control Unit.

Appendix F lists the models which are used with the Positioning Control Unit.

A comprehensive Glossary is provided which explains many of the terms and abbreviations com-monly used when referring to Positioning Control Units and PC Systems.

WARNING Failure to read and understand the information provided in this manual may result inpersonal injury or death, damage to the product, or product failure. Please read eachsection in its entirety and be sure you understand the information provided in the sectionand related sections before attempting any of the procedures or operations given.

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PRECAUTIONS

This section provides general precautions for using the Programmable Controller (PC), Position Control Unit (PCU), andrelated devices.

The information contained in this section is important for the safe and reliable application of the Programmable Con-troller and the Position Control Unit. You must read this section and understand the information contained beforeattempting to set up or operate a PC system.

1 Intended Audience xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 General Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Safety Precautions xii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Operating Environment Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Application Precautions xiii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5Safety Precautions

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1 Intended AudienceThis manual is intended for the following personnel, who must also have knowl-edge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General PrecautionsThe user must operate the product according to the performance specificationsdescribed in the operation manuals.

Before using the product under conditions which are not described in the manualor applying the product to nuclear control systems, railroad systems, aviationsystems, vehicles, combustion systems, medical equipment, amusementmachines, safety equipment, and other systems, machines, and equipment thatmay have a serious influence on lives and property if used improperly, consultyour OMRON representative.

Make sure that the ratings and performance characteristics of the product aresufficient for the systems, machines, and equipment, and be sure to provide thesystems, machines, and equipment with double safety mechanisms.

This manual provides information for programming and operating Position Con-trol Unit. Be sure to read this manual before attempting to use the PCU and keepthis manual close at hand for reference during operation.

3 Safety Precautions

WARNING Never attempt to disassemble any Units while power is being supplied. Doing somay result in serious electrical shock or electrocution.

WARNING Never touch any of the terminals while power is being supplied. Doing so mayresult in serious electrical shock or electrocution.

WARNING Provide safety measures in external circuits (i.e., not in the ProgrammableController), including the following items, to ensure safety in the system if anabnormality occurs due to malfunction of the PC or another external factoraffecting the PC operation. Not doing so may result in serious accidents.

• Emergency stop circuits, interlock circuits, limit circuits, and similar safetymeasures must be provided in external control circuits.

• The PC will turn OFF all outputs when its self-diagnosis function detects anyerror or when a severe failure alarm (FALS) instruction is executed. As a coun-termeasure for such errors, external safety measures must be provided toensure safety in the system.

• The PC outputs may remain ON or OFF due to deposits on or burning of theoutput relays, or destruction of the output transistors. As a countermeasure forsuch problems, external safety measures must be provided to ensure safety inthe system.

• When the 24-V DC output (service power supply to the PC) is overloaded orshort-circuited, the voltage may drop and result in the outputs being turnedOFF. As a countermeasure for such problems, external safety measures mustbe provided to ensure safety in the system.

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5Application Precautions

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4 Operating Environment PrecautionsDo not operate the control system in the following places.

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified inthe specifications.

• Locations subject to condensation as the result of severe changes in tempera-ture.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to shock or vibration.

• Locations subject to exposure to water, oil, or chemicals.

• Take appropriate and sufficient countermeasures when installing systems inthe following locations.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electric fields or magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

5 Application PrecautionsObserve the following precautions when using the Position Control Unit (PCU)and Programmable Controller (PC).

WARNING Failure to abide by the following precautions could lead to serious or possiblyfatal injury. Always heed these precautions.

• Always ground the system to 100 Ω or less when installing the system to pro-tect against electrical shock.

• Always turn off the power supply to the PC before attempting any of the follow-ing:

• Mounting or dismounting the Power Supply Unit, I/O Units, CPU Unit,other Units, or Memory Casettes.

• Assembling the devices.

• Setting DIP switches or rotary switches.

• Wiring or connecting cables.

• Connecting or disconnecting the connectors.

Caution Failure to abide by the following precautions could lead to faulty operation of thePC or the system or could damage the PC or PC Units. Always heed these pre-cautions.

• Fail-safe measures must be taken by the customer to ensure safety in theevent of incorrect, missing, or abnormal signals caused by broken signal lines,momentary power interruptions, or other causes.

• Interlock circuits, limit circuits, and similar safety measures must be providedby the customer as external circuits.

• Install external breakers and take other safety measures against short-circuit-ing in external wiring.

• Tighten the PC mounting screws, terminal block screws, and cable screws tothe torque specified in this manuals.

• Always use the power supply voltage specified in this manual.

5Application Precautions

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• Take appropriate measures to ensure that the specified power with the ratedvoltage and frequency is supplied. Be particularly careful in places where thepower supply is unstable.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly toterminals.

• Leave the dustproof labels affixed to the top of the Unit when wiring. After wir-ing, remove the labels for proper heat radiation.

• Do not apply voltages to the Input Units in excess of the rated input voltage.

• Do not apply voltages or connect loads to the Output Units in excess of themaximum switching capacity.

• Check the user program for proper execution before actually running it in theUnit.

• Be sure that the terminal blocks, memory units, extension cables, and otheritems with locking devices are properly locked.

• Double-check all the wiring before turning on the power supply.

• Disconnect the functional ground terminal when performing withstand voltagetests.

• Confirm that no adverse effect will occur in the system before performing thefollowing operations:

• Changing the operating mode of the PC.

• Force-setting/resetting the relay contacts.

• Changing the present values or set values.

• Changing positioning data or parameters.

• Resume operation only after transferring to the new CPU Unit the contents ofthe DM and HR Areas required for operation.

• Do not attempt to disassemble, repair, or modify any Units.

• Do not pull on or bend the cables beyond their natural limit. Doing so may breakthe cables.

• Do not place heavy objects on top of the cables. Doing so may break thecables.

• Resume operation only after saving in the Position Control Unit the parametersand position data required for resuming operation.

• Be sure that the set parameters and data operate properly.

• Be sure to check the pin numbers before wiring the connectors.

• Perform wiring according to specified procedures.

• Before touching a Unit, be sure to first touch a grounded metallic object in orderto discharge any static build-up from your body. Not doing so may result in mal-function or damage

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SECTION 1Introduction

The C200H-NC111 Position Control Unit is a Special I/O Unit that receives positioning commands either externally orfrom a Programmable Controller (PC) and uses that data to output control voltages to a stepping motor driver or a ser-vomotor driver.

This section describes the basic features and components of the Position Control Unit, as well as the basic configurationand operating principles of positioning control systems. Be sure to read and study these sections carefully; an understand-ing of the control system is essential for successful operation.

1–1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–2 Components 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–3 System Configuration 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–4 Control System Principles 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–4–1 Open-loop System 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–4–2 Semi-closed-loop System 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1–1 FeaturesApplicable Motor Drivers

The pulse train output can be easily connected to either of the following de-vices:

1) Stepping motor driver

2) Servomotor driver designed for pulse train input

Number of Control Axesand Controlling Capacity

The Position Control Unit is designed exclusively to control a single axis andis capable of controlling speeds and positions through parameters recordedin the DM area of the C200H PC.

Manual OperationThree commands enable manual positioning control: HIGH-SPEED JOG,LOW-SPEED JOG, and INCH.

Data TransferPositioning actions, speeds, and other data contained in the DM area orother areas of the PC can be quickly transferred via a TRANSFER DATAcommand. Control scale can thus be expanded to exceed the data capacityof the Position Control Unit.

Establishing PositionThe TRANSFER DATA command can also be used to change the presentposition to any target value, including 0 (origin), anytime the Position ControlUnit is not outputting pulses.

TeachingThe present position can be written into the memory of the PC as positioningdata whenever pulses are not being output.

1–2 ComponentsIn addition to the front-panel components described on the following page,there is a DIP switch located on the back panel. Pin settings for this switch,which are described under 2–1 Switch Settings, determine certain aspects ofcontrol system operation.

Components Section 1–2

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IndicatorsRUN: indicates operation is in progress

CW: indicates controlled system (motor) is revolving clockwise

CCW: indicates controlled system(motor) is revolving counterclockwise

BUSY: indicates operation/transfer is in progress

ALARM: blinks when an abnormality has occurred

ERROR: lights when an error has oc-curred

Setting switches

MACHINE No.

MODE

Allocates a unit number (0 to 9) tothe Position Control Unit

Not used

Connector

Used to connect the PositionControl Unit to a stepping mo-tor driver or servomotor driver.

Attach the enclosed connectorto the proper cable.

When setting the switches, use ascrewdriver if necessary. Do not apply an excessive force to theswitches.Do not leave the switches halfway be-tween two setting points or the PositionControl Unit may malfunction.Before operating these switches, makesure that power to the PC is off.

IndicatorsPosition Control Unit indicators (LEDs) are used to quickly determine operat-ing status. They are particularly valuable in initial system activation and de-bugging, but can also be used to monitor and check Unit operation.

Indicator Color Function

Lit during normal operation. Goes out for errors.

Lit during output of CW (clockwise) pulses.

Lit during output of CCW (counterclockwise) pulses.

Lit during positioning or data transfer.

Flashing when a BCD error exists in initial data, speeddata, or positioning data updated with TRANSFER DATA.

Lit when an error has occurred causing operation to stop.

Green

Green

Green

Green

Red

Red

RUN

CW

CCW

BUSY

ALARM(flashing)

ERROR

1–3 System ConfigurationThe basic system configuration is shown below. Position Control Unit outputsare connected to a motor driver, either for a stepping motor or for a ser-vomotor (either AC or DC) capable of receiving pulse train inputs. The Unit iscontrolled by inputs from devices and/or a control panel. It, in turn, outputspulse trains and direction signals to control the motor driver.

System Configuration Section 1–3

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The motor driver controls either a stepping motor or a servomotor, dependingon whether an open-loop or semiclosed-loop system is employed. (See 1–4Control System Principles). The stepping motor (or servomotor) controlssome type of positioning device (such as a feed screw, for example). An in-dependent power supply must be used. Some configurations also require anInput Unit on the C200H PC to control the motor driver.

Maximum Number ofSpecial I/O Units per PC

A maximum of 10 Special I/O Units, including Position Control Units,High-Speed Counters, etc., can be mounted under the same PC, regardlessof whether they are on the CPU Rack, an Expansion I/O Rack, or a rack con-taining a Remote I/O Slave Unit controlled by the PC. No more than four ofthese can be mounted onto any one rack containing a Remote I/O SlaveUnit.

Mounting LocationThe Position Control Unit can be mounted to any but the 2 rightmost CPURack slots. Mounting the Unit to either of these slots will prevent you frommounting devices directly to the PC’s CPU. The back-panel DIP switch mustbe set before the Unit is mounted. This switch is inaccessible on a mountedUnit. (See 2–1 Switch Settings.)

Basic ConfigurationAlthough Unit operation can be indirectly controlled from a host computer,Remote I/O Master Unit, or other control system or peripheral device, directcontrol comes from the program of the PC or from connections to externalinputs (e.g., control panel switches). (A list of Position Control Unit inputs andoutputs can be found under I/O Circuits in 2–2 Wiring.) The following configu-ration diagrams show only the positioning system itself. Refer to the operat-ing manuals for other Omron control devices for details on extended controlsystem operation.

System Configuration Section 1–3

5

Control signal input switches

C200H PC Position Control Unit C200H-NC111

Input Unit

Stepping motor (or ser-vomotor) driver controlsignal line

Power supply Hand-held ProgrammingConsole C200H-PRO27

Stepping motor driver(or servomotor driver)

Operation panel

Operation switch

Stepping motor(or servomotor)

1–4 Control System PrinciplesControl systems can be quite simple or relatively complex. The most basic isan open-loop system, in which a particular operation is carried out, accordingto programmed instructions, but in which adjustments are not made directlyby the PC. Instead, the open-loop system typically displays or prints out infor-mation to assist a human operator in making any required adjustments. TheC200H-NC111 Position Control Unit can be used in an open-loop system inconjunction with a stepping motor.

In a closed-loop system, on the other hand, the PC controls an external proc-ess without human intervention. The servomotor provides direct feedback sothat actual values (of positions, speeds, and so on) are continuously adjusted

Control System Principles Section 1–4

6

to bring them more closely in line with target values. In some systems, thedigital feedback signals will be transmitted to a digital-to-analog converter tocomplete the feedback loop, thereby permitting automated control of theprocess.

A semiclosed-loop system is similar to a closed-loop system, except thatfeedback is provided by a tachogenerator and a rotary encoder rather thandirectly by the servomotor. If the C200H-NC111 Position Control Unit is usedwith a servomotor, the servomotor driver must be able to handle digital sig-nals, and there is no need for a D/A converter. In addition, the servomotor isconnected to a tachogenerator and a rotary encoder. The Unit can thus beused in either an open-loop or a semiclosed-loop system.

Both open-loop and semiclosed-loop systems are described in more detail onthe following pages.


7

Data Flow

PCBUSI/F

C200H PC

Position Control Unit C200H-NC111

Rotary encoder

Tachogenerator

Servomotor driver

Pulse train

Poweramplifier

Pulsetrain

Stepping motor driver

I/O interfaceMPU

Memory

Pulse gen-erator

Magnetizingdistributioncircuit

Servomotor

(Positioning output)

PC BUSI/F

External input

Stepping motor

Error counter Power amplifier

I/O connector

1–4–1 Open-loop SystemIn an open-loop system, the Position Control Unit outputs pulse trains asspecified by the PC program to control the angle of rotation of the motor. Be-cause the Unit outputs pulse trains, it is generally used with a stepping motor.The angle of rotation of a stepping motor can be controlled through the num-ber of pulse signals supplied to the motor driver. The number of rotations ofthe stepping motor is proportional to the number of pulses supplied by theUnit, and the rotational speed of the stepping motor is proportional to the


8

frequency of the pulse train.

Positioning pulse1 2 n

Positioning output

Angle ofrotation

Angle of rotation

Simplified PositioningSystem Design

The following diagram and parameters illustrate a simplified positioning sys-tem.

PStepping motor

Reduction gear Object beingpositioned

M: Reduction ratio P: Feed screw pitch (mm/revolution) V: Feed velocity of object being positioned (mm/s) θs: Stepping angle per pulse (degree/pulse)

N

M

V

Feed screw pitch

The positioning accuracy in mm/pulse is computed as follows:

Positioning accuracy = P/(pulses per revolution x M)

= P/((360/S) x M))

= (P x S)/(360 x M)

The required pulse frequency from the Unit in pulses per second is computedas follows:

Pulse frequency = V/Positioning accuracy

= (360 x M x V)/(P x S)

And the required number of pulses to feed an object by a distance L in mm iscomputed as follows:

Number of pulses = L/Positioning accuracy

= (360 x M x L)/(P x S)

1–4–2 Semi-closed-loop SystemWhen the Position Control Unit is used in a semiclosed-loop system, the sys-tem supplies feedback to compensate for any discrepancy between targetvalues and actual values in position or speed. This system detects motor ro-


9

tation amounts, for example, computes the error between the target valueand actual movement value, and zeroes the error through feedback. The dia-gram below illustrates the basic configuration of a semiclosed-loop system.

Rotary encoder

Tachogenerator

Servomotor driver Servomotor

Position output

Error counter Power amplifier

Position feedback (feedback pulses)

Speed feedback

Target position

1) First, the target position is transmitted to the error counter in units of en-coder pulses. The servomotor driver must be able to handle digital input.

2) The motor rotates at a speed corresponding to the speed voltage. The ro-tary encoder connected to the motor axis rotates in sync with the motor, gen-erates feedback pulses, and subtracts error counter contents.

3) Consequently, the encoder rotation is equivalent to the target position, andthe motor stops rotating when the error counter count and the speed voltagebecome zero.

4) While the motor is stopped, the rotary encoder constantly maintains thestopped position through correction. In the event that the motor axis slightlymoves, the error counter receives a feedback pulse from the rotary encoder,whereby a rotation voltage is emitted in the reverse direction from which therotary encoder moved, causing the motor to rotate toward its original posi-tion. This operation is called servolock or servoclamp.

5) In order to execute positioning with acceleration and deceleration, targetpositions are set consecutively in the error counter for processing.

6) The target position becomes the count for the error counter and controlsthe motor by conversion to a speed voltage for the servomotor driver. Theposition thus equals the total count of target positions and the speed will de-pend on the target position per unit time.


11

SECTION 2Before Operation

Before the Position Control Unit can be operated, switch settings and wiring must be correct. This section presents thesettings and functions of switches, provides examples of and precautions for wiring, and gives dimensions of Units bothwhen mounted and unmounted. Be sure that all settings and wiring match your positioning system specifications.

2–1 Switch Settings 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–2 Wiring 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–3 Dimensions 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2–1 Switch SettingsAlways turn off PC power before setting the unit number switch. Use a regu-lar screwdriver, being careful not to damage the slot in the screw. Be sure notto leave the switch midway between settings.

Switch Function

Used to set the unit number (between 0 and 9).Do not set the same number for more than one Unit.Doing so will cause an error and prevent operation.

Not used.

Unit number (”Machine no.”)

Mode

Back Panel DIP SwitchThese pins must be set before the Position Control Unit is mounted.

Pin no. Name

Output pulse selector

Origin search direction

Origin proximitypresent/absent

Origin proximitysignal type

Origin signal type

External interruptselection*

External interruptresponse*

Nondirectional pulse anddirection signal outputs.

CCW

Present

N.O. input

N.O. input

Fixed via pin #7

CHANGE SPEED

Not used.

Separate CW and CCW pulse outputs

CW

Absent

N.C. input

N.C. input

Determined byIR bit (word n, bit 06)

STOP

ON OFF

1

2

3

4

5

6

7

8

*External interrupt processing is determined by pins #6 and #7 in combination with bit 06 of IR word n (n = 100 + 10 x unitnumber). Refer to 4–10 External Interrupt Commands for details.

Switch Settings Section 2–1

13

2–2 Wiring

External I/O Connections

The example diagram below shows I/O connections.

Position Control UnitC200H-NC111

Output

C200H PC

Input

Motordriver

Control panel

Emergency stopswitch

External interruptswitch

CCW limit switch

Motor

Mechanical system

CW limitswitch

Origin switch (sensor)

CCWCW

Origin proximityswitch

Wiring Section 2–2

!

14

Connector Pin Arrangement

The following I/O connector pin arrangement is as viewed from the front ofthe Position Control Unit.

Emergency stop input (0 V) 20 Emergency stop input (12 to 24 VDC)

Emergency interrupt input (0 V) 19 External interrupt input (12 to 24 VDC)

18

17

16

15

14

CW limit input (0 V) 13 CW limit input (12 to 24 VDC)

CCW limit input (0 V) 12 CCW limit input (12 to 24 VDC)

Origin input (0 V) 11 Origin input (12 to 24 VDC)

Origin proximity input (0 V) 10 Origin proximity input (12 to 24 VDC)

9

8

7

6

Output power (0 V) 5 Output power (0 V)

CW pulse or nondirectional 4 CW pulse or nondirectional pulse output (1.6 kΩ)pulse output

CW pulse or direction signal output 3 CCW pulse or direction signal output (1.6 kΩ)

5-VDC power supply input 2

1 24-VDC power supply input

Row B Pin no. Row A

External connector: FCN-361J040 (Fujitsu solder-type; included as an ac-cessory.)

Caution Output power should be either 24 or 5 VDC. Never connect both the 24 and5 VDC pins at the same time. In other words, never use power supplies of differ-ent voltages.

Wiring to Connectors• Solder-type connectors are included with the Unit.• Use wire with a cross-sectional area of 0.3 mm2 or less.• When soldering, do not short-circuit an adjacent terminal; cover the sol-

dered section with an insulation.• When using multi-core cable, wire output and input cables separately.


15

Insulator

Lead (0.3 mm2 max.)

Connector

Connector Viewed from Soldered Side

Connector Pin NumbersThe connector pin numbers are shown inthe following figure. Wire the connectorcorrectly according to the pin numbers.

Shape of connector flange on other side

Pin number marks

Differentiating Cables

Output cables

Input cables

Assembling Connectors

Usable connectors:

Fujitsu model 360 jack

1. FCN-361J040-AU (solder)

FCN-360C040-B (connector cover)

2. FCN-363J040 (solderless)

FCN-363J-AU (contact)

FCN-360C040-B (connector cover)

3. FCN-367J040-AU/F (solderless)

1. is included as an accessory.

Two 8-mm M2 pan-headscrews (short)

Connector(jack)

Four M2 nutsTwo 10-mm M2pan-head screws (long)

Case

Lock screw

I/O CircuitsIn the I/O circuits depicted in the following diagrams, pin numbers on the con-nector actually start from 1 at the bottom of the connector and run through 20at the top.


16

Outputs

1.6 kΩ (1/2W)

Constant-

voltage

circuit A1

B2

1.6 kΩ (1/2W)

A3

B3

A4

B4

A5

B5

Power for output, 24 VDC

Power for output, 5 VDC

CCW pulse output/direction output (w/1.6 kΩ resistor)

CCW pulse output/direction output

Note: Either of the output signals is selected by

the DIP switch on the rear panel.

CW pulse output or nondirectional pulse output(w/1.6 kΩ resistor)

CW pulse output or nondirectional pulse output

0 V

0 V

Supply a voltage of either5 or 24 VDC; the internalcircuit will be damaged ifboth the power sourcesare connected.

Inputs

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

B11

A12

B12

A13

B13

A19

B19

A20

B20

CCW limit input(NC input)

External interrupt input(N.O. input)

Emergency stop input(NC input)

(12 to 24 VDC)

(0 V)

(12 to 24 VDC)

(0 V)

(12 to 24 VDC)

(12 to 24 VDC)

(12 to 24 VDC)

(0 V)

(0 V)

(0 V)

1 kΩ

1 kΩ

(12 to 24 VDC)

(0 V)

A10

B10

Origin proximity input (Select either N.O. or N.C.inputs via the back-panelDIP switch.)

Origin input (Select either N.O. or N.C.inputs via the back-panelDIP switch.)

CW limit input(NC input)

A11


17

Input ConnectionExample

Each input is provided with both a N.O. (normally open) input or N.C. (nor-mally closed) input that can be used according to specifications.

Leave unused N.O. inputs open and connect unused N.C. inputs to thepower supply.

A10

B10

A12

B12

A13

B13

A19

B19

A20

B20

N.O. input

N.C. input

N.C. input


Origin proximity input

CCW limit input

CW limit input

External interrupt input

Emergency stop input

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

1 kΩ

+ –

N.C. input

A11

B11

Origin input 1 kΩ

1 kΩ

Power supply(12 to 24 VDC)

Select eitherN.O. or N.C.inputs via theback-panelDIP switch.

• All inputs have independent grounds (commons) and are bidirectional. Con-nect switches of at least 12-mA capacity.

• Use a non-contact sensor (such as a proximity sensor) for the origin input toreduce wear and deterioration.


!

18

Output ConnectionExamples

The following figures illustrate examples of connections to motor drivers. Al-ways confirm motor driver specifications before making connections.

The Unit outputs only pulse trains and a direction output, or separate CWand CCW pulse trains, to control the motor driver. If other control signals,such as a deflection counter reset signal or motor excitation release signal,are required, use a C200H I/O Unit and program in the required control ac-tions.

Connect between 2.5-mA and 30-mA loads to outputs of the Unit, or add by-pass resistance for loads less than 2.5 mA. Some output terminals have1.6-kΩ (0.5 W) resistance built in. Use these as necessary according topower supply and motor driver specifications. For voltage-level outputs, theoutput goes low for ON and high for OFF.

Open collector output

Open collector output with 1.6 kΩ series resistance

Output 2.5 to 30 mA

Output transistor

Output

2.5 to 30 mA

Pulses are not output when the output transistor in the pulse output section isOFF. (For direction output, OFF indicates CCW.)

Output transistor ON

OFF Pulses are output

Caution Output power should be either 24 or 5 VDC. Never connect both the 24 and5 VDC pins at the same time. In other words, never use power supplies of differ-ent voltages.


19

Example 1:Outputting CW and CCWPulses With a 5-VDCPower Supply

CCW input

CW input


24 VDC input

5 VDC input

CCW pulse output

CW pulse output

1.6 kΩ

1.6 kΩ

A1

B2

A3

B3

A4

B4

A5

B5

5-VDC powersupply

+ –

Approx. 15 mA

Approx.15 mA

Twisted pair cable

(+)

(–)

(+)

(–)

(Do not share this power supply with other pins.)

Motor driver (rated at 5 VDC)

(Example: R = 220 Ω)


20

Example 2:Outputting CW and CCW Pulses With a 24-VDC Power Supply and a Motor DriverRated at 5 VDC

B4 (–)

(Example: R= 220Ω)


24-VDC input

5-VDC input

CCW pulse output

CW pulse output

1.6 kΩ

1.6 kΩ

A1

B2

A3

B3

A4

A5

B5

24-VDC power supply

+ –

Approx. 12 mA

Approx. 12 mA

(Do not share this power source with other pins.)


(+)

(–)

(+)

Twisted pair cable

Note In this example, a 5-V input motor driver is being used with a 24-V DC powersupply. The limit resistors (1.6 KΩ) of the NC111 are thus being used. Checkthe driver current of the motor driver.

Example 3:Outputting Pulse and Direction Signals with a 5-VDC Power Supply

Pulse (CW+CCW) output Pulse input


24-VDC input

5-VDC input

Direction output

1.6 kΩ

1.6 kΩ

A1

B2

A3

B3

A4

B4

A5

B5

5-VDCpowersupply

+ –

7 to 30 mA

7 to 30 mA


Direction input


21

When the Position Control Unit is used to output voltage levels, the low levelis obtained when the output transistor turns ON, while the level goes highwhen the transistor turns OFF.

Example 4:Stepping–Motor DriverConnection

Signal24 V/0 V

B20

B13

B12

A12

B11

A10

B5

B2

A20

A13

A11

B4 +CW

+CCW–CCW

E32

Stepping motor UPH599

Limit switch(N.C. contact)


Power foroutput

Origin

CCW limit

CW limit

CW

CCW

0 V

B3

B10

+ 5 VDC

+

Stepping motor driver Oriental UDX5114

Limit switch (N.O. or N.C. contact)

OMRON Photoelectric Switch E3S-X3 CE4(NPN output type)

–CW

Originproximity

Emergencystop

24VDC

Example 5:Servomotor DriverConnection

When applying the servomotor driver Z-phase output to the origin input of thePosition Control Unit, the line input/open collector conversion circuit is re-


22

quired, as shown in the example diagram on the following page.

23

Signal24 V/0 V

+

A20 B20

B13

A13

A12 B12

A10 B10

B5 A5

B2

CCW B3

B4

5 V

24 N.C. switches

EM


Power for output

CCW limit

CW limit

Emergency stop

CW

0 V

5 VDC

12 to 24 VDC +

1

2

3 4

+CW –CW

+CCW

14

OMRON R88M-E Servomotor (marketed in Japan)

OMRON R88DEP06Servomotor Driver (marketed in Japan)

RUN 3322

–CCW

–

+

Z-phase output

A11

Origin proximity

Origin

B11

E32

+ 12 to 24 VDC

Toshiba TLP521-1 (GB)Photocoupler

50-75Ω

Limit switch(N.O or N.C.)

N.C. limitswitches

OMRON E3S-X3 CE4 (NPN output)Photoelectric switch

Wiring PrecautionsOperational errors can occur in most electronic control devices if they aresubjected to electronic noise from nearby power lines or loads. Recoveryfrom such errors is usually very difficult and time-consuming. To avoid suchnoise-originating operational errors and thus improve system reliability, al-ways abide by the following precautions in wiring the system.

1, 2, 3... 1. Cables must be of the required diameter.2. Power lines (e.g., AC power supply, motor power line) and control lines

(e.g., pulse output lines, external I/O signal lines) must be wired sepa-rately. Never put these lines into the same duct or make them into a sin-gle bundle.

3. Use shielded cable for control lines.4. Attach a surge absorber to all inductive loads, such as relays, solenoids,

and solenoid valves.


23

+

DC

–

Diode for surge absorption AC Surge absorber RYRY

DC relays AC relays

Note:Connect the diode and surge absorber as close as possible to the relay. Usea diode capable of withstanding a voltage five times higher than the circuitvoltage.

SOL Surge absorber

Solenoids

5. Insert a noise filter into the power supply inlet if noise enters the powerline (e.g., when it is connected to the same power supply as an electricwelder or an electric spark machine or when there is any source gener-ating high frequency noise).

6. Twisted pair cable is recommended for power lines.7. For grounds, use thick cable with a cross-sectional area of at least 1.25

mm2.


24

2–3 Dimensions

Unit Dimensions(Unit: mm)

35

130

100.5

Mounted Dimensions(Unit: mm)

Cable

Approx. 200117

Rack

Dimensions Section 2–3

25

SECTION 3Operation

This section covers all aspects of Position Control Unit operation other than commands, which are covered in the follow-ing section. Included in this section are the basic operating procedure, the type of output pulses possible, the basic dataformat and configuration, some special features to aid operation, such as flags, zone settings, backlash compensation andinternal limits, and the internal data calculation methods used in processing user-input data.

3–1 Operational Flow 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–2 Output Pulses 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–3 Writing Data 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–4 Data Configuration and Allocation 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–5 IR Area Data Format 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–6 Flags and Other Input Data 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–7 DM Area Allocation 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–7–1 Zones 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–7–2 Backlash Compensation 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–7–3 Internal CW/CCW Limits 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–7–4 Data Calculations 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3–1 Operational FlowThe basic procedure used to initially operate the Unit is outlined below. Referto applicable sections of the manual for details on each of these steps.

Item

Wiring

Data setting

Start

Wiring motor todriver

Setting back-pan-el DIP switch

Data setting

Origin, origin proximity, CW/CCWlimits, emergency stop, external in-terrupt

.Output pulse selection

.Origin search direction

.Origin proximity signal type

.Origin signal type

.External interrupt signal type

DM area (key input via Program-ming Console).Parameters.Positioning actions.Speeds

Refer to:

Wiring externalinputs

Follow motor and driver and instructionmanuals for wiring details

Wiring Position Control Unit to driver

2–2 Wiring

3–4 Data Configuration

2–1 Switch Settings

Section 4 Commands

3–7–4 Data Calculations

Section 5ProgrammingExamples

Writing PC program

Programming IR area (key input viaProgramming Console)

Procedure

Operational Flow Section 3–1

27

Item

ORIGIN SEARCH,manual operation,start, etc.

Correct error

Position ControlUnit reads DM area

Refer to:Procedure

Restart by resetting power or AR arearestart bit

Alarm/errorLED lit?

No

Yes

Error exists

READ ERROR

Alarm/errorLED flashes?

No

Yes

READ ERROR

Correct data causing alarm

6–4 TroubleshootingFrom the PC

AR area error and restart bits for Special I/O Units

4–5 READ ERROR

Section 6Error Processing

Trial run

Error processing

Operational Flow Section 3–1

28

3–2 Output PulsesThe Position Control Unit can be set to output either independent CW andCCW pulses or a nondirectional pulse and a direction signal. Set pin #1 onthe back-panel DIP switch to designate the target type of output. (See 2–1Switch Settings.)

CW and CCW PulseOutputs

ON

OFFCW pulse train

OFF

ON

CCW pulse train

Nondirectional Pulseand Direction SignalOutputs

Pulse train

Direction output

ON

OFF

ON

OFF

1 ms min.CW: ON

CCW: OFF

CW CCW

3–3 Writing DataData is written, via the Programming Console, into the section of the DMarea designated for Special I/O Units. The specific words are DM 1000-1999,with 100 of these words allocated for each unit number assigned to a Posi-tion Control Unit. Written data is effective the next time power is turned on orwhen the system is restarted with the restart bit in the AR area. To write data,use the 3-word change operation of the Programming Console.

Key Input SequenceProgramming Console Display

The above procedure prepares DM 1824 for change, and new data can bekeyed in. Pressing the CHG key again moves the cursor to DM 1823. Afterinputting data, press the write key to execute the rewrite. In the above exam-ple, positioning action #0 of Unit #8 is shown.

StartingWhen starting the Position Control Unit, the OUT refresh area is used. (TheOUT refresh area comprises the first five of the ten IR words allocated toeach Unit as refresh area. See 3–4 Data Configuration and Allocation for de-

Writing Data Section 3–3

29

tails.) The busy flag and present position status can be read out from the INrefresh area, the last five of these words.

To start the Unit, set (i.e., turn ON) the command bit regardless of whetherthe Unit is in RUN or PROGRAM mode. Do not shift the mode betweenMONITOR and PROGRAM while pulses are being output. Doing so will gen-erate an error, preventing Unit operation.

Example: Starting Unit #8 in MONITOR or PROGRAM Mode

START (command)

Start input 18000

In the above example, IR words 180 through 184 are allocated as the OUTrefresh area; IR words 185 through 190, as the IN refresh area.

Special I/O UnitRestart BitsAR Word 1

Restart bits can be used to transfer altered DM area data to the Unit withoutturning power off and on. Refer to 6–3 Troubleshooting From the PC for re-start bit allocations. The following Programming Console operation exampleshows how to access the restart bit for Unit #0. The ladder diagram sectionbelow it shows how to achieve the same operation through programming.

Programming Console Display Key Input Sequence

Program example: Unit #1Restart switch

DIFU (13) AR0101

3–4 Data Configuration and AllocationIR words 100 through 199 are allocated as I/O refresh areas. Each PositionControl Unit is allocated ten consecutive words. The first word for each Unit,designated in this manual as n, can be computed from the unit number asfollows:

n = 100 + 10 x unit number.

Each Unit is also allocated 100 consecutive words as a fixed data area.These words are in the DM area and run from DM 1000 through DM 1999.The first word for each Unit, m, can also be computed from the unit number:

m = 1000 + 100 x unit number.

These allocations are shown below for all unit numbers. Details of allocationswithin these words are given under the operations or commands to whichthey apply. The tables on the following pages give a quick overview of wordand bit allocations. For a more complete overview, see Appendix C DM AreaAllocations and Appendix D IR Area Allocations.

Data Configuration and Allocation Section 3–4

30

Data ConfigurationC200H PC

IR Area

Words 100 to 109 Unit #0










DM Area











Data is transferredbetween the PC andeach Position ControlUnit each time I/Odata of the PC is re-freshed.

Data is automatically transferredfrom the PC to each Position Con-trol Unit on power application orwhen the AR area restart bit isturned ON.


I/O refresh data areas

Words n to (n+4)

Words (n+5) to (n+9)OUT refresh

IN refresh

Ten words are used(n: 100 + 10 x unit no.)

Fixed data areas

Words m to m+21

Words m+22 to m+81

Words m+82 to m+97

Word m+98

Word m+99

Parameters

Position data

Speed data

Acceleration data

Deceleration data

100 words are used(m: 1000 + 100 x unit no.)


31

IR Area Allocations

”n” is the first IR word allocated to the Unit and equals 100 plus 10 times theunit number.

00 START

01 Valid initial positioning action number

02 ORIGIN SEARCH

03 ORIGIN RETURN

04 RELEASE PROHIBIT

05 READ ERROR

06 CHANGE SPEED

07 Valid speed coefficient

08 RESET ORIGIN

09 TEACH

10 TRANSFER DATA

11 HIGH-SPEED JOG

12 JOG direction

13 LOW SPEED JOG

14 INCH

15 STOP

Word n

Bit

n+1

Initial positioningaction no.

Speed coefficient

Beginningword no. (for TRANS-FER DATA)

PC data area (for TRANSFER DATA)

n+2 n+3 n+4

TEACH positioningaction no.00-19

Beginning transfer no.

Number of transfers (forTRANSFER DATA)

TRANSFER DATA type

(continued on next page)


32

Emergency stop signal

External interrupt signal

Origin proximitysignal

00 Positioning completedflag

01 Bank completed flag

02 At-origin flag

03 Alarm flag

04 Emergency stop flag

05 Error flag

06 Zone 0 flag

07 Zone 1 flag

08 Zone 2 flag

09 Teaching completed flag

10 Transfer completed flag

11 No-origin flag

12 Busy flag

13 CW limit flag

14 CCW limit flag

15 STOP flag

Word

Bit

n+6 n+7 n+8 n+9

Present position(rightmost 4digits)

n+5

Origin signal

Output code

Positioning action no.

Errorcode

Direction digit

Present position (leftmost 3 digits)

3–5 IR Area Data FormatData is allocated either by bit or by word, though it is often input and outputby decimal digit, i.e., four bits (BCD). Position data is held in two adjacentwords, generally with a direction digit, in the following format.

direction 103 102 101 100104105106

0

1

CW

CCW

highest word lowest word

Note that the rightmost word is always the lowest word. If the two words weren+8 and n+9, for example, the rightmost word would be n+8 and the leftmostwould be n+9. Furthermore, the rightmost digit in each word begins in thelowest bits. Thus, the digits x104 and x100 above would be held in bits 00through 03 of their respective words. The direction digit also provides otherinformation when required.

Speeds, Acceleration,and Deceleration

Only one word is used to store speeds, the acceleration, and the decelera-tion. The formats for these are as follows:

IR Area Data Format Section 3–5

33

Speeds

103 102 101 100

Acceleration and Deceleration

102 101 100

Data CodingAlthough decimal notation is generally used for data in this manual, data ishandled in the system as binary-coded decimal (BCD) unless otherwisenoted. Note that this data is generally input as decimal, whereas hexadeci-mal data is input as hexadecimal. The number of digits given for certain datarefers to the decimal digits. For example, ”7 digits with direction” indicatesthat the lowest word and rightmost 12 bits of the highest word are allocatedto the 7-digit decimal value; the leftmost four bits are allocated to the direc-tion digit.

3–6 Flags and Other Input Data

IR words n+5 to n+9 are allocated to flags and other inputs that supply infor-mation about positioning system operation. Although some of these are de-scribed under specific operations or commands, they are presented togetherin Appendix D IR Area Allocations for convenience. Of these, an output codehas been provided for user application and four signals, the last four in thelist, have been provided for system debugging.

3–7 DM Area Allocation

Coding SheetThe table on the following page can serve as a general coding sheet for theDM area. For a more detailed table describing the functions of all of the bitsin the DM area, see Appendix C DM Area Allocations.

The numbers shown for the DM words in the following table represent onlythe final two digits of each word number. In other words, the first two digits(which would be the same for all words) are not shown. The value of the firsttwo digits can be obtained by computing the first DM word allocated to theUnit. This word, designated m, is equal to 1000 plus 100 times the unit num-ber. Thus, for example, it would be 1000 for Unit #0, 1100 for Unit #1, and soon.

DM Area Allocation Section 3–7

34

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

15 00 Function W

Initial position nos.;speed nos.

Origin compensa-tion and direction

Backlash com-pensation

CWlimit

CCWlimit

Zone 0 CW limit

Zone 0 CCW limit

Zone 1 CW limit

Zone 1 CCW limit

Zone 2 CW limit

Zone 2 CCW limit

Not used

Positioning action #0 0


Positioning action #2

2


3

Transfer no.Transfer no.

15 00W Function



5


6



8



10





34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

80

81

82

83

84

85

86

87

88

89

90

91

92

93

94

95

96

97

98

99

W 15 00 Function



16


17


18


19

Speed #1

Speed #2

Speed #3

Speed #4

Speed #5

Speed #6

Speed #7

Speed #8

Speed #9

Speed #10

Speed #11

Speed #12

Speed #13

Speed #14

Speed #15

Speed units

Acceleration

Deceleration

20

21

22

23

24

25


35

3–7–1 ZonesUp to three zones can be set in the DM area. If one or more zones havebeen set, zone flags in the IR area can be used to determine if the presentposition is within any established zones. A zone flag is ON (1) when the pre-sent position is within the zone; OFF (0) when it is not. Zones can be set tocover a wide range of positions or narrowed to cover only part of a single po-sitioning action. Zones can also be set to overlap, if target. For applicationexample, see programming example 8 in Section 5.

CW and CCW LimitSettings

The CW and CCW limits for any one zone are set in separate word pairs, i.e.,four words total are required to establish one zone. These words are allo-cated as follows:

Zone 0 CW limit: m+9 and m+10, 7 digits with direction

Zone 0 CCW limit: m+11 and m+12, 7 digits with direction





Note that the CW limit for any of the zones can be on the CCW side of theorigin; the CCW limit, on the CW side. In other words, a zone can eithercross the origin or be completely on one side of it. An alarm will be gener-ated, however, if the CCW limit of a zone is set on the CW side of the CWlimit.

Zone 0 CW limit

CCW Origin CW

0

Zone 1 CCW limit

Zone 0 CCW limit

Inside zone

Inside zone

Zone 1 CW limit

Positioning axis

Example 1: Correct Setting

Zone 0 CCW limit

CCW Origin CW

0

Zone 0 CW limit

Positioning axis

Example 2: Incorrect Setting


36

Zone FlagsWhen the present position is in one or more of the zones, zone flags in the IRarea are turned ON (1). The PC’s scan time, however, can produce a delay inindication during pulse output. Flag allocations are as follows:

0 Outside zone

1 Inside zone

08

n+5

07 06

Zone 0 flag

Zone 1 flag

Zone 2 flag

3–7–2 Backlash CompensationBacklash compensation can be used to compensate for the amount of me-chanical play present in gears, particularly when the direction of positioningactions changes.

Setting ParametersThere is only one parameter that needs to be set to compensate for back-lash:

Backlash Compensation

DM word m+4

Set to between 0000 and 9999 pulses.

ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ

Backlash


37

Using BacklashCompensation

When the feeding direction is reversed, the number of pulses set in DM areais output at the initial speed, and the Unit then proceeds with normal opera-tions.

ÍÍÍÍ

Time

Compensation

If STOP is executed during backlash compensation for any operations requir-ing acceleration or deceleration (HIGH-SPEED JOG, ORIGIN SEARCH,ORIGIN RETURN, and START), the Unit will stop feeding immediately afteroutputting the initial step of the acceleration or deceleration, which will in-clude the backlash compensation set above.

ÍÍStop position

Time

STOP executed

Compensation

3–7–3 Internal CW/CCW LimitsLimits on the CW and CCW sides of the origin can be set internally to restrictUnit operation to within these limits.

CCW

Internally set value of CCW limit

0

Internally set value of CW limit

CWPositioning axis

Internal CW LimitDM words m+6 through m+5, 7 digits

Set to between 1 and 8388606.

Internal CCW LimitDM words m+8 through m+7, 7 digits

Set to between 1 and 8388607.

The following values will be automatically set if the internal limit settings are0.

CW: 8388607

CCW: 8388608

OperationSTART (Positioning Actions)


38

If either of these limits is reached during execution of positioning actions,pulse output will stop, and an error code, either 5030 or 5031, will be gener-ated.

Manual Operation

If either of these limits is reached during execution of LOW-SPEED JOG,HIGH-SPEED JOG, or INCH, pulse output will stop, and an error code, either5070 or 5071, will be generated.

3–7–4 Data Calculations

SpeedsSlight differences exist between speeds set in the DM area and actualspeeds. These differences do not affect positioning accuracy.

Settings between 201and 99,990 pps

where,

INT: Nearest integer

INT(4,000,000/set value): Divider ratio

pps: pulses per second

Actual speed (pps) = 4,000,000

INT(4,000,000/set value)

Pulse output (actual speed)

4 MHzDivider

A 4-MHz source clock is divided by the integral divider ratio.

Example Values

Set Value (pps) Actual Speed (pps)

99,900 100,000.00

70,000 70,175.44

40,000 40,000.00

9,999 10,000.00

2,400 2,400.96

201 201.01


39

Settings between 1 and200 pps

Actual speed (pps) =62,500

INT(62,500/set value)

62.5 KHz

Pulse output (actual speed)

Divider

A 62.5-KHz source clock is divided by the integral divider ratio.

Example Values

Set Value (pps) Actual Speed (pps)

200 200.32

120 120.19

Trapezoidal Accelera-tion/Deceleration

An internal calculation process is used to create a trapezoidal figure fromspeed, acceleration, and deceleration settings.

Speed

Time

When accelerating or decelerating between two speeds, the speed is variedevery unit time in a stepwise fashion. To achieve this, acceleration and decel-eration tables are created internally when the Unit is first operated or whenTRANSFER DATA is used to alter data.


40

Table CreationThe internal processing of the Position Control Unit is as follows during tablecreation.

1, 2, 3... 1. The speed difference, ∆V, is obtained to express the range of speed set-tings.

∆V = MAX – MIN

where,

MAX: Twice the maximum set value (not to exceed 100,000).

MIN: Speed indicated by initial speed number.

2. The number of division steps, L, is determined such that the unit time foreach step is 4 ms. The maximum number of steps is 250.

L = (∆V/R)

where, R: Acceleration or deceleration data, whichever greater. ∆V/R: Acceleration (or deceleration) time between MAX and MIN

4

3. Next, the speed difference (∆υ) for each step is obtained.

∆υ = (∆V/L)

4. The divider ratios for all steps are calculated and set in a table.

StepTarget (step) speed Division ratio

1 MIN

2 MIN + ∆υ 3 MIN + 2 x ∆υ

L MAX

5. Example

Start speed 0 (pps)

Maximum value of speed data Nos. 1 to 15 20000 (pps)

Acceleration 100 (pps/1ms)

Deceleration 100 (pps/1ms)


41

∆υ = 40000/100 = 400

∆V = 20000 x 2 = 40000

L = (∆V/R) = (40000/100) = 100

4 4

pps400003960039200388002040020000196001920016001200800400

48

12192

196200

204 388 396392 400

t (Time)ms

υ (Speed)

400

4 ms

R = 400= 1004

START Activation TimeThe time required between START command bit recognition and the begin-ning of pulse output is 0.1 second or less.

Only about 10 ms is required to begin execution of positioning actions with”single” positioning actions.

External InterruptResponse Time

The time required between CHANGE SPEED or STOP command bit recogni-tion and the beginning of execution is at least 10 ms.

Data Transfer TimeWhen executing TRANSFER DATA, the busy flag (bit 12 of word n + 5) willbe ON during data transfer and processing for the following time periods:

Positioning Action Data Only (positioning actions #0 through #19)

Maximum: 0.1 s + k (scan time)

When Speed Data (Transfers #20 through #25) Are Included

Maximum: 0.2 s + k (scan time)


42

The value of ”k” depends on the number of transfers being made, as illus-trated in the following table.

Number of transfers k

1 to 6 1

7 to 13 2

14 to 20 3

21 to 26 4

Influence onPC Scan Time

Mounting one Position Control Unit on a PC extends the PC’s scan time byabout 3 ms. In addition, when transferring data, the scan time during whichdata is transferred increases by another 5 ms. For example, to transfer all 20positioning actions, TRANSFER DATA only needs to be executed once, butboth the PC and Position Control Unit require 3 scans. Each of these 3 scantimes will be 5 ms longer than the normal scan time.


43

SECTION 4Commands

The Positioning Control Unit provides thirteen commands to execute automatic and manual positioning actions, defineand establish position, transfer data, and handle interrupts and errors. Although the data required for execution is listedunder each command, much of this data is used by more than one command. Refer to 3–4 Data Configuration and Allo-cation for an outline of the structure of Unit data, and to 3–5 IR Area Data Format for format specifications for particulartypes of data. Appendix C DM Area Allocations and Appendix D IR Area Allocations also provide convenient overviewsof data allocation. Applications of most commands are presented in Section 5 Programming Examples.

4–1 Start 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1–1 DM Area Settings 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1–2 IR Area settings 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–1–3 Execution Examples 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2 Origin Search 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2–1 DM Area Settings 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–2–2 IR Area Settings 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


4–2–4 Completion Examples 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3 Origin Return 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3–1 DM Area Settings 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3–2 IR Area Settings 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3–3 Execution Example 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–4 Release Prohibit 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


4–5 Read Error 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


4–5–2 Reading from the Programming Console 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–6 Reset Origin 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7 Teach 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–7–1 IR Area Settings 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


4–7–3 Teaching from the Programming Console 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8 Transfer Data 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8–1 Normal Transfer 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8–2 IR Area Settings 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8–3 Present Position Preset 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9 Manual Operations 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–1 DM Area Settings 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–2 IR Area Settings 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–3 High-speed Jog 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–4 Low-speed Jog 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–9–5 Inch 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10 External Interrupt Commands 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10–1 Stop 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–10–2 Change Speed 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44

4–1 StartThe START command bit, bit 00 of word n, is set to begin execution of posi-tioning actions (effective on signal’s rising edge). The actions are executed inorder from either the initial positioning action designated in the DM area orthat designated in the IR area. Positioning actions are executed in order untila ”single” or ”bank end” positioning action is reached, at which time START isagain required in order to begin execution of positioning actions.

When a bank end positioning action is reached or when positioning action#19 has been performed, the initial positioning action designated in the DMarea is performed next. The valid initial positioning action and completioncodes (i.e., single, pause, continuous, bank end, and extended) are de-scribed later in this subsection.

4–1–1 DM Area SettingsBits 1000 to 1999 of the DM area of the PC are used as data storage areasfor the Position Control Unit, storing data such as initial positioning actionnumbers, initial speed numbers, speed data, acceleration/deceleration data,position data, completion codes, dwell times, and output codes. (Refer to 3–4Data Configuration and Allocation for details.)

Initial Positioning ActionNumber

DM word m, bits 07-00

Set to a value between 00 and 19. This number is used at:

• Initial START after turning on the Unit (if bit 01 of word n is 0)

• START after bank ends

• START after completion of positioning action #19

If bit 01 of word n is 1, the initial positioning action number designated in theIR area is used for the initial START after turning on the Unit, allowing for adifferent starting point for positioning system initialization.

x101 x100m (m = 1000 + 100 x unit number)

11 08 07 00

Initial positioning action number

Initial speed number

Initial Speed NumberDM word m, bits 11-08

Set to a value between 0 and F (hex). An initial speed number of 0 indicatesa speed of 0. All the other speed numbers set here refer to the speeds set inDM words m+82 through m+96.

Start Section 4–1

45

Acceleration AccelerationTime

Target speed Target speed

Initial speed #0 Initial speed numberother than 0

SpeedsDM words m+82 through m+96

Set each word to a value between 0000 and 9999 pps (4 digits)

Each of these values, when multiplied by the relevant speed unit in wordm+97, is referred to by number to set speeds for this and several other com-mands.

15 00

m+82

to

m+96

m+97

Bit number

x103

x103

15 00

x102

x102

x101

x101

x100

x100

Speed No. 1

to

Speed No. 15

Set speeds in BCD from0000 to 9999.

0

Speed UnitsDM word m+97

Each of the bits in this word is assigned to one of the speeds set in wordsm+82 through m+96. If the bit is set to 0, the speed is multiplied by 1; if thebit is set to 1, then the speed is multiplied by, by 10. Bit assignments are asfollows:

Bit 00 is not used. Bit 01 is assigned to speed #1, bit 02 to speed #2, bit 03 tospeed #3, and so on, up to bit 15.

AccelerationDM word m+98, bits 11-00, 3 digits

Acceleration is in pps per ms.

DecelerationDM word m+99, bits 11-00, 3 digits

Deceleration is in pps per ms.

Positioning ActionsDM words m+22 through m+81

Start Section 4–1

46

Positioning actions (or sequences) consist of a completion code, dwell time,output code, speed number, and target position. These actions are generallyreferred to by number and completion code. For example, ”#6, continuous”indicates positioning action #6 with a completion code of 2 (continuous). Thesettings for positioning action #0, DM words m+22 through m+24, are ex-plained below. The same procedure is followed for any other positioning ac-tion. See Appendix C DM Area Allocations for detailed word and bit alloca-tions.

Completion CodeDM word m+22, bits 03-00

Set to between 0 and 4 to specify the five types of completions (describedbelow). See also 4–1–3 Execution Examples.

m+22

03 to 00

Completion code: 0 to 4

0: SingleThe target position and target speed are reached and feeding stops. Aftercompletion of this action, START is necessary in order to to execute the nextpositioning action(s).

Initial speed

Acceleration

Target speed

Deceleration

Stop from initial speed

Target position

Time

START

1: PauseThe target position and target speed are reached, and the next positioningaction is automatically started following the dwell time.

Target speed

Dwell time

Start of next positioning action

Time

START Pause

Start Section 4–1

47

2: ContinuousAs soon as the target position for the first positioning action is reached, thenext positioning action is started. The first target position is reached at thetarget speed set for the next positioning action, so that the next positioningaction can be executed immediately.

Time

Target position for firstpositioning action

Target speed for firstpositioning action

START

Target speed for next po-sitioning action

3: Bank endThe term ”bank” refers to a combination of several positioning actions or se-quences. The target position and target speed are reached and feedingstops. The next positioning action to be executed will be the initial positioningaction number in bits 07-00 of DM word m. START is required in order to re-sume execution of positioning actions.

Target speed

Stop

Time

START

4: ExtendedThe Unit continually outputs pulses at the speed set for the positioning ac-tion. The Unit will not calculate the present position, and the no-origin flag (bit11 of word n+5) will go ON during operation. The direction of pulse output isdetermined by the direction digit set in the positioning data. (See Appendix CDM Area Allocations.) Extended positioning actions are terminated withSTOP. START is required in order to resume execution of positioning actions.

Stop

Time

STOP executed

START

Target speed

Dwell TimeDM word m+22, bits 07-04

Set to a value between 0 and F (hex). (Unit: 0.1 s)

Start Section 4–1

48

The next action can be executed when the busy flag turns OFF after thedwell time has expired. In other words, the positioning completed flag re-mains OFF and the busy flag remains ON until the dwell time has expired.(See 4–1–3 Execution Examples.)

Output CodeDM word m+22, bits 11-08

Set to an integer between 0-F (hex).

These codes can be set as target by the user. Upon completion of the posi-tioning action, they are output to word n+7 bits 11-08, of the OUT refresharea.

m+22

15 to12 11 to 08

Positioning actionnumber

n+7 x101 x100

11 to 08 07 to 00

Output code: 0 to F (hexadecimal)

(Output to word n+7, bits 11 to 08.)

Target speed number: 1to F (hexadecimal)

Target Speed NumberDM word m+22, bits 15-12

Set to a value between 1 and F (hex).

The speed number set here refers to the speeds set in DM words m+82through m+96.

Target PositionDM words m+23 through m+24

The target position is set with the lowest seven digits, i.e., all four digits ofword 23 and the lowest three digits of word 24. The remaining digit of word

Start Section 4–1

49

24 is used as a direction digit. (See Appendix C DM Area Allocations.)

m+24

15 00

m+23 x103 x102 x101

x101

x100

Sign x106

x105

x104

m+24 m+23

Direc-tion

x106 x105 x104 x103 x101 x100

CW absolute value

CCW absolute value

CW increment

CCW increment

0

1

2

3

Maximum values are as follows:

CW: 8388606 pulses

CCW: 8388607 pulses

Absolute values are measured from the origin. Increment values are meas-ured from the present position. Positions resulting from increments must bebetween –8,388,607 and +8,388,606.

8388607

CCW

(Origin)

0

CCW directionincrement value

Presentposition

CW directionincrementvalue

8388606

Absolutevalue

CW

Note that the TEACH command can be used to write target positions into theDM area. See 4–7 TEACH for details.

4–1–2 IR Area settings

In C200H PCs, IR words 100 to 199 are used for Special I/O Units. When aPosition Control Unit is used, they are allocated as I/O refresh areas. For adetailed explanation, see 3–4 Data Configuration and Allocation. For a de-tailed table of words and bits in the IR area, see Appendix D IR Area Alloca-

Start Section 4–1

50

tions.

n

15 07 01 00

START

Valid initial positioning action number

Valid speed coefficient

STOP

STARTword n, bit 00

When bit 00 is ON (i.e., set at 1), bits 01 and 07 are referred to and position-ing begins.

Valid Initial PositioningAction Number

word n, bit 01

This is used when the initial positioning number is designated in the I/O re-fresh areas. After the initial position is set with bits 07 to 00 of word n+1, theSTART command is set with this bit These values are set within the samescan.

1: Initial position number set in bits 07-00 of IR word n+1 isvalid.

0: Initial position number set in bits 07-00 of DM word m isvalid.

Valid Speed Coefficientword n, bit 07

This is used when the target speed of the positioning action is multiplied by acoefficient . After the speed coefficient is set with bits 07 to 00 of word n+2,the START command is set with this bit. These values are set within thesame scan. This bit can function simultaneously with bit 01 (describedabove).

1: Coefficient in bits 07-00 of word n+2 is valid.

0: Coefficient is 1.0.

Deceleration/StopCommand (STOP)

word n, bit 15

This bit turns ON when STOP is executed during pulse output. Pulse outputcannot be executed as long as this bit remains ON. See 4–10–1 STOP for amore detailed explanation and several STOP execution examples.

Initial Positioning ActionNumber

word n+1, bits 07-00

Set to an integer between 00 and 19.

START will be executed from the positioning action number specified here ifbit 01 of word n is 1 when the START command bit (bit 00 of word n) is set.

Start Section 4–1

51

Speed Coefficientword n+2, bits 07-00

Set a value between 00 and 20 (in units of 0.1). In other words, a setting of15, for example, will represent an actual value of 1.5.

This coefficient is valid if bit 07 of word n is 1 when the START command bit(bit 00 of word n) is set. It is valid only during START and cannot be changedduring an operation.

The speed coefficient represents the coefficient with regard to the targetspeed. If the value is set at 00, the speed will be considered to be 100 and acoefficient of 1.0 will be used. If the value is set anywhere from 01 to 20, theset value will be multiplied by 0.1 to determine the coefficient. The speed co-efficient can thus be set in increments anywhere from 0.1 to 2.0.

If the speed resulting from the coefficient exceeds 100 kpps or falls below 1kpps, the speed will be set at 100 kpps or 1 kpps, respectively. Speed coeffi-cients will have no effect on accelerations and decelerations.

Speed

Coefficient: of 1.5

Coefficient: of 0.5

Acceleration

Time

Target speed (coefficientnot used or set at 1.0)

4–1–3 Execution Examples

Example 1: Using Completion Codes

In example diagram on the following page, the initial position and the targetposition at bank end are the same and the valid initial positioning action num-ber is 0. Positioning actions in these and all following diagrams are indicatedsimply by their numbers.

Start Section 4–1

52

CCW

Initial position

CW positioning axis

START START

START

START#0 #1 #2 #3 #4

#6#5

Pause

The completion code for positioning action #0 is set at 0, making it a singleaction. Positioning stops after completion of this action, and START is neces-sary for operation to begin again.

The completion codes for positioning actions #1 and #2 are set at 2, makingthem continuous actions. Positioning actions #1, #2, and #3 are thus exe-cuted consecutively, with each action reaching its target position at the targetspeed set for the subsequent action. The completion code for positioning ac-tion #3 is set at 0, making it a single action and causing positioning to stopafter completion of this sequence of actions.

The completion code for positioning action #4 is set at 1, making it a pauseaction. Upon completion of this action, there will be a pause (set as dwelltime); following the pause, the next positioning action will start automatically.Positioning actions #4 and #5 are thus executed consecutively, with a presetpause in between. Since the completion code for positioning action #5 is setat 1 (single), positioning will stop after completion of this sequence.

The completion code for positioning action #6 is set at 3, making it a bankend. Completion of this action will thereby signal completion of the entirebank of actions. Upon completion of this action, the Unit will be prepared toexecute positioning action #0 but will wait for START before beginning.

Refer to the more detailed example diagrams on the following page.

Start Section 4–1

53

Stop

Completion code

m+22

m+25

m+28

m+31

m+34

m+37

m+40

Positioningaction #0

0

2

2

0

1

0

3

Pause

Single

Bank end

Pulse output CW

CCW

Pulse output CW

CCW

Pulse output CW

CCW

Automatic start

Time

Time

Time

Single

Continuous

Continuous

Stop

Stop

Pulse output CW

CCW

Time

Single







#0

#1

#2#3

#4

#5

#6

START

START

PauseSTART

START

Stop, wait for #0 START

Start Section 4–1

54

Example 2: Using Dwell Time

In this example, the completion code for positioning action #1 is set at 1(pause), with the dwell time set at 0.5 s. The completion code for positioningaction #2 is set at 0 (single), with the dwell time set at 1.0 s.

Pulse output

1

0

1

0

1

0

0.5 s 1.0 s

Time

#1 #2

START (word n, bit 00)

Positioning completedflag (word n+5, bit 00)

Busy flag (word n+5, bit 12)

Example 3: Using STARTWith Single or Bank EndPositioning Actions

Positioning sequences combining several pause and/or continuous position-ing actions normally are ended by a single or bank end positioning action.When the last positioning action is completed, including any dwell time desig-nated for it, the positioning completed flag turns ON and busy flag turns OFF.START is then required to begin further execution of positioning actions.START is also required to restart operation after the STOP command hasbeen executed. (See 4–10 External Interrupt Commands for details and ex-amples.)

Start Section 4–1

55

START commandword n, bit 00

Pulse output

Time

1

0

1

0

1

0

When positioning ends, the positioningaction number is changed as follows:

210 3

Outputcode ofaction #0 action #1 action #2

code of code ofOutput Output

#0, single

#1, continuous

#2, single

Positioning completed flagword n+5, bit 00

Busy flag word n+5, bit 12

Positioning action number word n+7, bits 07-00

Output code word n+7, bits 08-11

4–2 Origin SearchThe ORIGIN SEARCH command bit, bit 02 of word n, is set to establish theposition of the origin through inputs from an origin sensor and, if provided, anorigin proximity sensor (effective on signal’s rising edge). Before using ORI-GIN SEARCH, set the DIP switch as described in 2–1 Switch Settings to es-tablish the direction from which the search will be made, the presence or ab-sence of a proximity sensor, and the type of input used.

4–2–1 DM Area SettingsIn addition to the settings described in detail in this section, the data listedbelow must also be set in order to execute ORIGIN SEARCH. They are thesame as those set for START, so they can be set by following the instructionscontained in 4–1 START.

Initial Speed Number Bits 11-08 of DM word m


Speed Units DM word m+97

Acceleration Bits 11-00 of DM word m+98

Deceleration Bits 11-00 of DM word m+99

Origin Search Section 4–2

56

ORIGIN SEARCH Proximity Speed Number(Low Speed)

DM word m+1, bits 03-00

Set to an integer between 1-F (hex). The speed number set here refers toone of the speeds set in DM words m+82 through m+96. It cannot be sethigher than the ORIGIN SEARCH high speed number. If there is no originproximity signal, the speed designated here is used for the entire ORIGINSEARCH operation.

ORIGIN SEARCH High Speed Number

DM word m+1, bits 07-04

Set to an integer between 1-F (hex). The speed number set here refers toone of the speeds set in DM words m+82 through m+96. The speed desig-nated here is used only if an origin proximity signal is present.

Origin CompensationDM words m+2 and m+3

Set word m+2 to a value between 0000 and 9999 pulses.

Set bit 00 of word m+3 to set the direction of compensation:

0: CW

1: CCW

If the position determined by origin signal input is to be treated as the origin(position 0), set word m+2 to 0. Otherwise set the value and direction neces-sary to obtain the required origin. If there is an origin compensation value setin word m+2, then, after reaching the position determined by origin signalinput, compensation will be executed at proximity speed in the direction setat bit 00 of word m+3. See the example given below and 4–2–3 ExecutionExamples for application.

In the example diagram below, bit 00 of word m+3 is set at 1, so origin com-pensation is counterclockwise.

Proximity signal

Origin signal

Pulse output

CCW

Deceleration

Search direction: CCW

Acceleration

Initial speed

positioning axis

Compensation

CW

ORIGIN SEARCH high speed

0.5 s pause

Proximity speed

Proximity speed

4–2–2 IR Area SettingsIn C200H PCs, IR words 100 to 199 are used for Special I/O Units. When aPosition Control Unit is used, they are allocated as I/O refresh areas. For adetailed explanation, see 3–4 Data Configuration and Allocation. For a de-tailed table of words and bits in the IR area, see Appendix D IR Area Alloca-tions.


57

In the IR area, the ORIGIN SEARCH command is set with bit 02 of word n.ORIGIN SEARCH begins when this bit is turned ON.

n

02

(n = 100 + 10 x unit number)

ORIGIN SEARCH command bit (ORIGIN SEARCH is started at the leading edge ofthis bit.)


Search Patterns WithOrigin Proximity Signal

There are basically three possible search patterns when an origin proximitysignal is present (i.e., when DIP switch no. 3 is ON). The pattern executeddepends on the position of the origin with respect to the starting position andsearch direction. N.O. inputs are used in the following example diagrams.

Example 1The first diagram illustrates the simplest search pattern, i.e., that in whichboth the origin proximity and origin signal activation points are in the searchdirection from the initial position.

Origin proximity signal1

0

1

0Origin signal

DecelerationProximity speed

Origin (Stop)Search direction (CCW)

CCW CWPositioning axis

ORIGIN SEARCH (Begin)

High speed

Acceleration

Initial speed

Example 2When beginning ORIGIN SEARCH from inside the activation points for theorigin proximity signal, the Unit first feeds beyond the activation point, and


58

then begins searching in the search direction.


0

1

0Origin signal

Proximity speed

Origin (Stop)Search direction (CCW)



Example 3When reaching the CW or CCW limit during ORIGIN SEARCH, the Unitpauses for 0.5 s, returns beyond the activation point for the origin proximitysignal, and then begins searching in the search direction.


0

1

0Origin signal

Proximity speed

Origin (Stop)

Search direction (CCW)



Deceleration Deceleration

Acceleration

Acceleration

CW limit

High speed

0.5 s

Search Patterns WithoutOrigin Proximity Signal

When an origin proximity signal is not present, only the ORIGIN SEARCHproximity speed is used for ORIGIN SEARCH. This affects the three search


59

patterns only by eliminating accelerations and decelerations. All other as-pects remain the same.

Example 1The first diagram illustrates the simplest search pattern, as in Example 1above.

Origin signal

1

0

Proximity speed


ORIGIN SEARCH (Begin)Origin (Stop)

Positioning axis

CWCCW

Example 2As in Example 2 on the previous page, when beginning ORIGIN SEARCHfrom inside the activation points for the origin proximity signal, the Unit firstfeeds beyond the activation point, and then begins searching in the searchdirection.

1

0Origin signal

CCW


Origin (Stop)


CWPositioning axis

Example 3As in Example 3 on the previous page, when reaching the CW or CCW limitduring ORIGIN SEARCH, the Unit pauses for 0.5 s, returns beyond the acti-vation point for the origin proximity signal, and then begins searching in thesearch direction.

Origin signal1

0


0.5 s


CCW limit


Origin (Stop)


60

4–2–4 Completion Examples

Completion PatternsWith an Origin ProximitySignal

The following two example diagrams both illustrate completion of ORIGINSEARCH when an origin proximity signal is present (i.e., when DIP switchno. 3 is ON). There is an origin compensation value set in the second exam-ple, but not in the first.

Example 1: Without Origin Compensation

Origin proximity signal

Origin signal

Pulse output

1

0

1

0

High speed

DecelerationProximity speed

Time

At-origin flag

word n+5, bit 02

No-origin flag

word n+5, bit 11

Busy flag

word n+5, bit 12

1

0

1

0

1

0


61

Example 2: With OriginCompensation

Proximity speed

0

1

0

1

0

High speed

Deceleration

0.5 sMovement equivalent to compensationvalue

Time

1

0

1

0

1


Origin signal

Pulse output

At-origin flag

word n+5, bit 02

No-origin flag

word n+5, bit 11

Busy flag

word n+5, bit 12


62

Completion PatternsWithout an Origin Proximity Signal

The following two example diagrams both illustrate completion of ORIGINSEARCH when no origin proximity signal is present (i.e., when DIP switchno. 3 is OFF). There is an origin compensation value set in the second exam-ple, but not in the first.

Example 1: Without Origin Compensation

1

0

Proximity speed

Time

1

0

1

0

1

0

Origin signal

Pulse output

At-origin flag

word n+5, bit 02

No-origin flag

word n+5, bit 11

Busy flag

word n+5, bit 12


63

Example 2: With OriginCompensation

Proximity speed

0

1

0

0.5 s Movement equivalent to compensation value

Time

1

0

1

0

1

Origin signal

Pulse output

At-origin flag

word n+5, bit 02

No-origin flag

word n+5, bit 11

Busy flag

word n+5, bit 12

4–3 Origin ReturnThe ORIGIN RETURN command bit, bit 03 of IR word n, is set to return tothe origin (effective on signal’s rising edge). Because origin and origin prox-imity signals are not used, the present position relative to the origin must beknown. ORIGIN SEARCH or TRANSFER DATA (to preset the present posi-tion) must therefore be used to establish position before ORIGIN RETURN isexecuted.

4–3–1 DM Area SettingsIn addition to the ORIGIN RETURN speed number (described below), thefollowing data must also be set in order to execute ORIGIN RETURN. Theyare the same as those set for START, so they can be set by following the in-structions contained in 4–1 START.






ORIGIN RETURN SpeedNumber

DM word m, bits 15-12

Set from 1 to F (hexadecimal).

Origin Return Section 4–3

64

4–3–2 IR Area SettingsThe ORIGIN RETURN command is valid when bit 03 of word n is ON.

n

03

(n = 100 + 10 x unit number)

ORIGIN SEARCH command ORIGIN SEARCH is started at the leading edge of this bit..

4–3–3 Execution ExampleORIGIN RETURN can only be executed when the origin (0) is known. Asshown in this example diagram, acceleration and deceleration automaticallyform a trapezoidal pattern, stopping at the origin.

0

Pulse output

1

0

Initial speed

ORIGIN RETURN (Begin)

ORIGIN RETURN speed

AccelerationDeceleration

Initial speed Time

[IN refresh data area flags]

1

0

1

ORIGIN RETURN word n, bit 03

At-origin flag word n+5, bit 02

Busy flag

word n+5, bit 12

Origin (Stop)

Origin Return Section 4–3

65

4–4 Release ProhibitWhen Position Control Unit operation is stopped as a result of input of anemergency stop, CW limit, or CCW limit signal, (i.e., when the N.C. input ofany of these turns ON), further pulse output is prohibited. In order to resumepulse output, it is necessary to cancel this prohibition by means of the RE-LEASE PROHIBIT command bit (bit 04 of word n) and release of the externalemergency stop switch.

External input pin no.

20

13

12

A

B

A

B

A

B

CCW

Emergency stop

CCW limit CW limit

CW

Positioning axis

Power source

0 V

24 V

Release Prohibit Section 4–4

66


Example 1:Emergency Stop

The present position is lost during an emergency stop, and positioning can-not be started again directly after RELEASE PROHIBIT. Execute ORIGINSEARCH before proceeding.

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Input

6000

Time

Emergency stop signal

STARTword n, bit 00

RELEASE PROHIBITword n, bit 04

Pulse output

Emergency stop flagword n+5, bit 04

Error flagword n+5, bit 05

No-origin flagword n+5, bit 11

Busy flagword n+5, bit 12

Alarm/error codeword n+6

ORIGIN SEARCHword n, bit 02

1

0

0000


Turned OFF upon completionof ORIGIN SEARCH.


67

Example 2: ExceedingCW or CCW Limit

The emergency stop flag is not affected by exceeding the CW or CCW limit.When a limit is exceeded, only pulse output in the opposite direction is possi-ble. In other words, when the CW limit is exceeded, only CCW pulse output ispossible. Although a CCW HIGH-SPEED JOG is used to clear the CW limitflag in the example, LOW-SPEED JOG or ORIGIN SEARCH may also beused.

0

1

0

1

0

1

0

1

0

1

CCW

1

0

1

0

1

0

1

0

6100

Time

CW

CW limit signal

STARTword n, bit 00

RELEASE PROHIBITword n, bit 04

HIGH-SPEED JOGword n, bit 11

JOG directionword n, bit 12

Pulse output




CW limit flagword n+5, bit 13



68

4–5 Read ErrorThe READ ERROR command bit, bit 05 of word n, is set to access error andalarm codes when more than one of these is present (effective on signal’srising edge). The codes are consecutively output to word n+6. Errors andalarms have separate flags, as follows:

15 00

Alarm flag: Set to 1 when an alarm code has beengenerated

Error flag: Set to 1 when an error has occurred

Error code (or alarm code)

n+5

0305

x103 x102 x101 x100n+6

word n+6 shows four digits in BCD when displayed on the ProgrammingConsole. If there are no errors or alarms, 0000 will be displayed. If there areany errors or alarms, they will be displayed in code. The codes will be dis-played in order as READ ERROR is executed. (If there is only one code,however, the display will not change when READ ERROR is executed.)

The error or alarm code (word n+6) is updated via I/O refreshing immediatelyafter the READ ERROR command bit is turned ON. The busy flag does notturn ON. READ ERROR can be used within a signal scan.

For further information and details, refer to Section 6 Error Processing. For acomplete list of alarm codes, refer to Appendix A Alarm Code List.

4–5–1 Execution ExampleThe following diagram shows an example in which first the alarm code 1501and then the error code 5000 are displayed.

1

0

1

0

1

0Display will not changebecause only one alarmcode has been generated.

1501

First alarm code

Display has beenchanged becauseanother error codehas been gener-ated.

5000

Second error code

Display has beenchanged because anerror code has beenread.

1501

First alarm code

READ ERROR word n, bit 05

Alarm flagword n+5, bit 03



Read Error Section 4–5

69

4–5–2 Reading from the Programming Console

The following example diagram (for Unit #1) shows how to read an alarm/er-ror code from the Programming Console.

Key sequence:Programming Console Display:

4–6 Reset OriginThe RESET ORIGIN command bit, bit 08 of word n, is set to redefine the pre-sent position as the origin (effective on signal’s rising edge).

Execution Example

1

0

1

0

1

0

1

0 Busy for 1 scan time

Present position changed to 0

RESET ORIGIN

word n, bit 08

At-origin flagword n+5, bit 02



Present positionword n+8 and n+9

4–7 TeachWhen the origin and present position are defined (i.e., when the no-origin flagis OFF), you can use TEACH to write the present position as fixed data intothe C200H PC’s DM area available for use by Special I/O Units. The TEACHcommand bit, bit 09 of word n, is set to write the present position as the tar-get position for the designated positioning action. Data is set as absolute po-sitions, and not as increments. TEACH can be executed within a single scan.The following diagram uses Unit #10 as an example.

Teach Section 4–7

70

Presentposition

DM 1052

DM 1053

DM 1054

CCW

positioning axis0

CW

Data set using TEACH is valid immediately and can be used for positioningactions without turning off the power or transferring data. Note that data re-written using the Programming Console is not valid until data has been trans-ferred again.


Present PositionWhen the no-origin flag is OFF, and pulse output is stopped at the position tobe taught, the present position is set in words n+8 and n+9.

TEACH Positioning Action Number


Set an integer between 00 and 19. The number set here indicates the posi-tioning action under START for which the present position is to be set as thetarget position.

TEACH Command Bitword n, bit 09

TEACH is executed when this bit is ON.

Teach Section 4–7

71

4–7–2 Execution Example

1

0

1

0

1

0

TEACH positioning action no. word n+1, bits 15-08

TEACHword n, bit 09

Teaching completed flagword n+5, bit 09


4 scans max.

4–7–3 Teaching from the Programming ConsoleThe following example shows how to teach positions from the ProgrammingConsole for Unit #0. It assumes that ORIGIN SEARCH has been executed,and writes the present position into words DM 1053 and DM 1054 as an ab-solute position (i.e., relative to the origin).

Programming Console Display Key sequence

Teaching Position Number

(Teaching ON/OFF)

4–8 Transfer DataUse TRANSFER DATA when the set data automatically transferred from theC200H PC to the Position Control Unit is insufficient. Although only the datafrom the area designated for any particular Unit is automatically transferred,TRANSFER DATA can be used to access data from any data area in the PCIn other words (as described in 3–4 Data Configuration and Allocation), Posi-tion Control Units are consecutively allocated 100 words each from the DM

Transfer Data Section 4–8

72

area, and this data is automatically transferred. TRANSFER DATA, however,can transfer data from other parts of the DM area as well as from the LR, HR,and other areas.

C200H PC

DM 1500 to 1599

I/O memory

Automatically transferred atstart-up or restart via AR arearestart bit.

Position Control Unit #5

Data table

Parameters

Positioningactions

Speeds

Acceleration

DecelerationTRANSFERDATA

IR area, LR area,HR area,etc.

TRANSFER DATA can be executed either to rewrite positioning data set inthe Unit or to change the present position to any target position. The type oftransfer is determined by the following setting.

TRANSFER DATA typeIR word n+2, bit 15

1: Preset position

0: Normal transfer

If this bit is 0, then bits 15 through 08 of word n+2 determine the beginningtransfer number, as explained below. (Bit 15 of word n+2 will always be 0when a beginning transfer number is designated. When this bit is set to 1,bits 14 through 08 are ignored and only the present position is affected.) Thiscommand can be executed within a single scan.

4–8–1 Normal TransferIf bit 15 of word n+2 is 0, the TRANSFER DATA command bit, bit 10 of wordn, is set to transfer the positioning actions, speeds, acceleration, and decel-eration from a data area of the PC other than the one allocated to the Posi-tion Control Unit. Any data area in the C200H PC may be designated. Thisdata is directly transferred from the designated area to memory within theUnit; the data set for the Unit in the allocated section of DM area is not af-


73

fected. Parameters set in DM words m through m+21 are not changed whenTRANSFER DATA is executed.

Data PreparationUp to 26 transfers (three words each) can be made each time TRANSFERDATA is executed. Each transfer consists of one positioning action, threespeeds, or the speed units, acceleration, and deceleration. In any case, threewords are required for each transfer. This data must be prepared in a PCdata area in the required format and in consecutive words. (See Appendix CDM Area Allocations for the content of each word/bit.)




Speed #1

Speed #2

Speed #3

Speed #4

Speed #5

Speed #6

Speed #13

Speed #14

Speed #15

Speed units

Acceleration

Deceleration

Data Area

DM area

DM area ( forSpecial I/O Units)

I/O area

LR area

HR area

AR area

Words

0000 to 0999

1000 to 1999

000 to 255

000 to 63

00 to 99

00 to 27

Transfer #0

Transfer #1

Transfer #19

Transfer #20

Transfer #21

Transfer #24

Transfer #25

PC Data Areas Available for TRANSFER DATA

Position Control Unit’s Rewritten Data



74

Beginning Transfer Num-ber


Set an integer between 00 and 25.

This number indicates the position where the first transfer is to be made. Thedesignated number of transfers will be transferred continuously from thispoint.

See Appendix C DM Area Allocations for the words transferred with eachtransfer number.

Beginning Word Number


This is the first word in the PC data area that is to be transferred into the Po-sition Control Unit beginning at the transfer number designated above. Thebeginning word and ending word (computed from the number of transfers)must be within one of the data areas designated during data preparation.(See Data Preparation under 4–8–1 Normal Transfer.)

PC Data Areaword n+4, bits 07-00

Set the data area (in four digits BCD) from which the transfer is to be made.

15 00

Data Area

00

01

02

03

04

n+3

n+4

n+4 n+3

x103 x102 x101 x100 x101 x100 x101 x100

DM

I/O

LR

HR

AR

Beginning word number

Set a wordnumber in4-digit BCDcode

Number of transfers

Number of Transfersword n+4, bits 15-08

Set an integer between 01 and 26.

TRANSFER DATACommand Bit

word n, bit 10

After the above settings are made, TRANSFER DATA is executed with thisbit. This can all be done in one scan.


75

Execution Example(Normal Transfer)

This example assumes that bit 15 of word n+2 is 0.

Set necessary information in IR area.

1

0

1

0

1

0

Data transfer Data processing

Preparation of datain PC’s data areas

Beginning transfer numberword n+2, bits 15-08

Beginning word numberword n+3

PC data area/no. of transfersword n+4

TRANSFER DATAword n, bit 10

Transfer completed flagword n+5, bit 10


4–8–3 Present Position PresetIf bit 15 of word n+2 is 1, the TRANSFER DATA command bit, bit 10 of wordn, is set to either preset or change the present position. This command canbe used to eliminate the need to execute ORIGIN SEARCH to establish posi-tion. Since the origin, present position, and so on, are not known when theUnit is powered up, it is ordinarily necessary to execute ORIGIN SEARCHfirst. However, when you want to know the absolute position and set a par-ticular numerical value, you can use the preset function.

Retaining Present Position

No data is retained in the Position Control Unit once power is turned OFF.When the present position needs to be retained, copy it (words n+8 and n+9)


76

to either the HR or DM area, and then restore by using TRANSFER DATAthe next time the Unit is powered up.

The following programming example shows word n+8 data moving to wordHR 00 and word n+9 data moving to word HR 01. If there is no origin, bit 11of word n+5 (the no-origin flag) turns ON (goes to 1). As long as there is anorigin and the present position data is valid, the present position will be trans-ferred.

0 CW

1 CCW

n+8

n+9

15 00

x103 x102 x101 x100

x106 x105 x104

n+9 n+8

x103 x102 x101 x100 x106 x105 x104

XFER (70)

#0002

n+8

HR 00

x103 x102 x101 x100

x106 x105 x104 Sign

HR 00

HR 01

n+5, bit 11

Direc-tion

Direc-tion

Data PreparationData must be prepared in the same manner as for normal execution ofTRANSFER DATA, except that only two words indicating the target positionare necessary.

Present PositionPreset Bit

word n+2, bit 15

Set this bit to 1 in order to use the preset function. If this bit is set to 0, thebeginning transfer number is set in bits 15-08 as described in BeginningWord Number under 4–8–2 IR Area Settings.

Beginning word Number


This number indicates the first of the two words to be transferred in as thepresent position. The two words must be within one of the data areas desig-nated for Data Preparation toward the beginning of 4–8–1 Normal Transfer.


77

PC Data Areaword n+4, bits 07-00

Set the data area (in four digits BCD) from which the transfer is to be made.

Data Area

00

01

02

03

04

n+3

n+4

15 00

n+4 n+3

x103 x102 x101 x100 x101 x100 x101 x100

DM

I/O

LR

HR

AR

Beginning word number

Set a wordnumber in4-digit BCDcode

Number of transfers

TRANSFER DATACommand Bit

word n, bit 10

After the above settings are made, TRANSFER DATA is executed with thisbit. This can all be done in one scan.


78

Execution Example(Preset)

The following example assumes that bit 15 of word n+2 has been set to 1.

Set necessary information in IR area.

1

0

1

0

1

0

Data transfer

Present position presetword n+2, bit 15

Beginning word numberword n+3

PC data areaword n+4 bits 07-00

TRANSFER DATAword n, bit 10

Transfer completed flagword n+5, bit 10


Present position words n+8 and n+9

This position is reflected in the IN refresh area Present position determined

Preset value

4–9 Manual OperationsThere are three manual feeding commands: HIGH-SPEED JOG,LOW-SPEED JOG and INCH. Acceleration and deceleration are possiblewith HIGH-SPEED JOG, but not with LOW-SPEED JOG. INCH operates onepulse at a time.

4–9–1 DM Area SettingsIn addition to the settings described in this section, the following data mustalso be set in order to execute HIGH-SPEED JOG. They are the same asthose set for START, so they can be set by following the instructions con-tained in 4–1 START. Only the first three of these need be set forLOW-SPEED JOG.


Manual Operations Section 4–9

79





HIGH-SPEED JOG SpeedNumber

word m+1, bits 15-12

Set an integer between 1 and F (hex).

The speed number set here refers to one of the speeds set in DM wordsm+82 through m+96.

LOW-SPEED JOG Speed Number

word m+1, bits 11-08

Set an integer between 1 and F (hex).

The speed number set here refers to one of the speeds set in DM wordsm+82 through m+96.


HIGH-SPEED JOG Command

word n, bit 11

0: Stop

1: Operate

JOG Directionword n, bit 12:

0: CW

1: CCW

LOW-SPEED JOG Command

word n, bit 13

0: Stop

1: Operate

INCH Commandword n, bit 14

0: Stop

1: Operate


80

4–9–3 High-speed Jog

The HIGH-SPEED JOG command bit (word n, bit 11) of is set to manuallyfeed at the designated speed (effective on signal’s rising edge). Feedingstarts when the command bit is set and continues until it is reset.

1

0

1

0

Initial speed

HIGH-SPEED JOG speed

AccelerationDeceleration

Initial speedTime

HIGH-SPEED JOG word n, bit 11

Pulse output


End position (stop)Initial position (start)

4–9–4 Low-speed Jog

The LOW-SPEED JOG command bit, bit 13 of word n, is set to manually feedat the designated speed (effective on signal’s rising edge). Feeding startswhen the command bit is set and continues until it is reset.

1

0

1

0

Time

LOW-SPEED JOG word n, bit 13

Pulse output

Busy flagword 12, bit n+5

LOW-SPEED JOG speed

Initial position (start) End position (stop)


81

4–9–5 InchThe INCH command bit, bit 14 of word n, is set to manually inch one pulse ata time (effective on signal’s rising edge). One pulse will be feed each timethis bit is set.

1

0

1

0

1 pulse (2.5 ms)

ON for 1 scan if the scanning time is 12 ms or longer.(Sometimes ON for 2 scans if the scanning time is shorter than 12 ms.)

Time

INCH

word n, bit 14

Pulse output


Approx. 5ms

4–10 External Interrupt CommandsPositioning can be stopped and speeds can be changed by either the bits setin the IR area or by external interrupt commands. The target speeds usedduring CHANGE SPEED are taken in order, beginning with the lowest speednumber, from the DM area.

Acceleration

START

Time

DecelerationAcceleration

Acceleration

Time

STOP (command executed)

Target speed #1

End position (positioning stops)

START

CHANGE SPEED (command executed)

Target speed #1

Target speed #2

Target speed #3

External Interrupt Commands Section 4–10

82

Connection for ExternalInterrupt Signal

The signal level’s rising edge is taken as the input signal.

External input pin no.

19A

B

External interrupt signal1

0

Interrupt signal received

DC power supply

24 V

0 V

DIP Switch SettingsThe setting of pin #6 on the back-panel DIP switch determines the function ofbit 06 of IR word n. If pin #6 is ON, the function of bit 06 is determined by pin#7. If pin #6 is OFF, bit 06 defines the response to external interrupts as fol-lows:

0: STOP executed in response to external interrupts

1: CHANGE SPEED executed in response to external inter-rupts

If pin #6 is ON and pin #7 is OFF, STOP is executed in response to externalinterrupts. If pin #6 and pin #7 are both ON, CHANGE SPEED is executed inresponse to external interrupts. The external interrupt signal is acknowledgedon its rising edge.

There are thus two ways to execute STOP: through an external interrupt orthrough the command bit, bit 15 of word n. Both of these methods are avail-able at the same time if bit 06 of word n is set to 0 and pin #6 on theback-panel DIP switch is OFF, or if pin #6 is ON and pin #7 is OFF.

There are also two ways to execute CHANGE SPEED: through an externalinterrupt or, if pin #6 is ON, directly by using bit 06 of word n as the commandbit. Execution through an external interrupt is available if bit 06 of word n isset to 1 and pin #6 on the DIP switch is OFF, or if pins #6 and #7 are bothON. In the latter case, execution through the command bit and through anexternal interrupt are both available.

DM Area SettingsThe following data must be set to execute STOP and CHANGE SPEED, butit is the same as that set for START. Refer to 4–1 START for details.



4–10–1 StopSTOP can be executed during pulse output for START, ORIGIN SEARCH,ORIGIN RETURN, HIGH-SPEED JOG, and LOW-SPEED JOG to decelerateto a stop (effective on signal’s rising edge). Note, however, that the nextSTART cannot be executed as long as STOP (either from bit 15 of word n orfrom an external interrupt signal) is in effect.


83

STOP Executed During START

When the STOP command bit is set during execution of a positioning actionunder START, the positioning completed flag is not turned ON, and the posi-tioning action number is not changed. When START is next executed, thetarget position and speed of that action will be used, as long as the targetposition has not been exceeded. The busy flag, however, turns OFF, allowingmanual operations to be used up to the next START.

Let’s take, for example, a case in which the following DM words and data areused.

Completion code: continuous

Target position

Completion code: single

Target position

15 00

Target speed #5

Target speed #8



m+22

m+23

m+24

m+25

m+26

m+27

5

8

2

0

Example 1First of all, the following diagram shows the situation when STOP is not exe-cuted.

1

0

1

0

1

0

Time

START word n, bit 00



START

Target speed #5

Target speed #8

Target position for action #0

#0

Stop (at target positionfor action #1)


84

Example 2This example shows STOP execution if the target position is not exceededwhen the target position is designated from the origin (i.e., not an increment).When START is next executed, the data from the positioning action at thetime of STOP is taken as the target position.

0

1

0

1

0

1

0

1

0

1

0 1

Time

2


STOPword n, bit 15(or external interrupt)

Pulse output



Positioning action numberword n+7, bits 07-00

Output codeword n+7, bits 11-08

Target positionfor action #0

Stops at target positionfor action #1.

Output code ofaction #0


#0 #0#1

Target speed #5


85

Example 3This example shows execution when a target position designated from theorigin (i.e., not an increment) is exceeded during deceleration for STOP, ascan happen when STOP is executed during the end of a continuous position-ing action. If START is next executed before this situation is corrected, thefeeding direction for the action will be wrong, and an error (code 5020) will begenerated due to inability to begin the action. The Unit can be restarted aftermanually feeding (with JOG) back to the other side of the target position foraction #0.

1

0

1

0

0

1

1

0

1

1

0

#0

0

5020

Time

0


STOPword n, bit 15(or external interrupt)

Pulse output




STOP executed flagword n+5, bit 15

Error codeword n+6


Target position foraction #0 is passed.

Target speed #5

This error will also be generated if the target position for action #0 is ex-ceeded through manual operations before START is executed followingSTOP.


86

Example 4When the target position is expressed as an increment, the positioning actionwill be automatically started over from the position arrived at after STOP wasexecuted.

1

0

1

0

1

0

1

0

1

0

0 1

Time

2


STOPword n, bit 15

Pulse output





Output codeword n+7, bits 11-08

#0 #0

#1




87

STOP During ORIGIN SEARCH

Feeding will be decelerated to a stop and the command must be reexecutedfrom the position reached at the end of STOP.

STOP During ORIGIN RETURN

Feeding stops according to the deceleration rate.

0

1

0

1

0

1

1

0

Time

ORIGIN RETURN

word n, bit 03

STOPword n, bit 15

Pulse output




88

STOP During HIGH-SPEED JOG

If STOP is executed during HIGH-SPEED JOG, feeding will be stopped justas if the HIGH-SPEED JOG command bit (word n, bit 11) were reset to 0.The command bit, however, will remain at 1.

1

0

1

0

1

0

1

0

Time


STOPword n, bit 15

Pulse output




89

STOP During LOW-SPEED JOG

If STOP is executed during LOW-SPEED JOG, feeding will be stopped justas if the LOW-SPEED JOG command bit (word n, bit 13) were reset to 0. Thecommand bit, however, will remain at 1.

0

1

0

1

0

1

1

0

Time


STOPword n, bit 15

Pulse output



4–10–2 Change SpeedCHANGE SPEED can only be executed during positioning activities initiatedwith START. When CHANGE SPEED is executed (effective on signal’s risingedge), the speed number in the present positioning action will be incre-mented by 1. If CHANGE SPEED is executed again, the speed number willbe incremented again. Incrementation will continue for each CHANGESPEED execution (speed #15 increments to speed #1). CHANGE SPEEDwill not affect the target position or execution of the next action. In otherwords, normal deceleration to end at the target position will be carried out forsingle, pause, or bank end positioning action, and the speed for the next po-sitioning action will take priority for a continuous positioning action.


90

Execution ExampleIn the following example diagram, speed number 1 is used for the positioningaction executed first.

0

1

1

0

Time


CHANGE SPEED(external interrupt inputor word n, bit 06)

Pulse output

Speed #1

Speed #2

Speed #3

Speed #4


91

SECTION 5Programming Examples

This section contains examples of possible applications of Positioning Control Unit commands, inputs, and outputs. Ex-ample 1 shows the minimum data required for operation. Example 2 shows the use of only one positioning action underSTART augmented by RESET ORIGIN. Example 3 demonstrates the use of external switches to control positioning ac-tions, while Examples 4 and 5 show use of TRANSFER DATA: Example 4, from the PC, and Example 5, from externalswitches. Example 6 shows a complex series of positioning actions under START. Example 7 illustrates possible searchpatterns under ORIGIN SEARCH, while Example 8 illustrates one possible use of zones: controlling manual feedingoperations. Finally, Example 9 describes special considerations when connecting to a servo driver with a Z-phase output.Refer to the Appendixes or individual operation or command descriptions for details.

5–1 Operation with Minimum Data: Displaying JOG Positions 92. . . . . . . . . . . . . . . . . . . . . . . . . 5–2 Positioning at Intervals: Using RESET ORIGIN 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–3 Feeding Selectively with START 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–4 Transfer Data from Other PC Areas 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–5 Transfer Data from External Switches 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–6 Using START to Carry Out Positioning Actions 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–7 Using Origin and Origin Proximity Signals 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–8 Using Zones to Control Jogging 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–9 Controlling an R88D-EP06 Servodriver 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–10 Controlling a V-series Servodriver 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

92

5–1 Operation with Minimum Data: Displaying JOG PositionsWiring

The wiring shown below is the simplest possible for Position Control Unit op-eration.

24 VDC

ABABAB

20

13

12

C200H PC

Emergency stop

CW limit

CCW limit

Hand-held Programming ConsoleC200H-PRO27-EPosition Control Unit #0

DM Area SettingsThe data settings shown below are the minimum required to prevent thealarm/error LED from flashing.

HIGH-SPEEDJOGspeed

ORIGINSEARCHproximityspeed

DM 1000 1 0 0 0

DM 1001 1 2 1 2

DM 1082 2 0 0 0 Speed #1

DM 1083 0 5 0 0 Speed #2

DM 1098 0 0 0 6 Acceleration

DM 1099 0 0 0 6 Deceleration

ORIGINRETURNspeed

Initialspeed

Initialpositionno.

LOW-SPEED JOGspeed

ORIGINSEARCHspeed

Procedure1, 2, 3... 1. Set the PC to PROGRAM mode, and then begin operation from the Pro-

gramming Console.2. Write data into the DM area and restart.

3. Monitor the present position words.

Operation with Minimum Data: Displaying JOG Positions Section 5–1

93

4. Monitor the RESET ORIGIN command bit.

5. Reset the present position.

6. Set LOW-SPEED JOG command bit.

Indicators on Position Control Unit

NC111

RUN BUSY

CW

CCW ERROR

10012 is OFF.CW and busy LEDs light.

The values of thepresent position increase or decrease.

ALARM

Programming Console Display

7. Stop LOW-SPEED JOG.

Operation with Minimum Data: Displaying JOG Positions Section 5–1

94

5–2 Positioning at Intervals: Using RESET ORIGINIn this example, the Position Control Unit is assumed to be assigned unitnumber 0.

Configuration

C200H PC

A

BABA

BA

BAB

20

13

12

11

10

Emergencystop

CW limit

CCW limit

Origin

Originproximity


24 VDC

OperationFeeding is executed to positions lying at equal distances in the same direc-tion from a specific point, repeatedly using the same positioning action andthen RESET ORIGIN.

ORIGINSEARCH

Origin

0

Origin proximitysignal

RESET ORIGIN

Positioning at Intervals: Using RESET ORIGIN Section 5–2

95

Programming

Comple-tion code0 to 4

SpeedNo. 1 to F

Outputcode 0 to F

Dwelltime 0 to F

Originproximityspeed 1 to F

DM 1000 1 0 0 0

DM 1001 1 2 1 2

Initialspeed

0 to F

InitialpositionNo. 0 to 19

LOW-SPEEDJOG 1 to F

ORIGINSEARCH1 to F

HIGH-SPEEDJOG 1 to F

ORIGINRETURNspeed 1 to F

DM 1022 1 0 0 3

DM 1023 0 0 0 0

DM 1024 0 0 0 1

DM 1082 5 0 0 0 Speed #1

DM 1083 0 5 0 0 Speed #2

DM 1097 0 0 0 0 Speed units



Target position

10002

10000

END

DIFU 3001

DIFU 3000

3002

3002

3002

3000 10512

10511 10502 10512

10500

3001 10502

1051210008

10015Operation stop switch

No origin

Busy (flag)

Busy ORIGIN SEARCH

START

Present position reset

Start switch

At origin

Positioning completed

STOP

Positioning at Intervals: Using RESET ORIGIN Section 5–2

96

5–3 Feeding Selectively with STARTConfigurationLadder Diagram

With the following programming, input A, B or C can be selected and STARTexecuted to feed the target number of pulses.

RESET ORIGIN

Valid initial positioning action no.

Selects positioning action #0



Origin reset switch

25313

Input A

Input B

Input C

START input

10008

10001

MOV (21)#0000

101

MOV (21)#0001

101

MOV (21)#0002

101

10000 START

5–4 Transfer Data from Other PC AreasThis example program shows data for three positioning actions transferredfrom DM word 10. Note that TRANSFER DATA immediately rewrites the Po-sition Control Unit’s memory. Therefore the transfer program must be ex-ecuted a second time, this time from DM1022, if the previous origin position-ing action is to be repeated.

Initial DataThe initial data is entered in DM words 1002 to 1030. The data and position-ing actions are shown below.

Speed #4

Speed #3

DM 1022 3 0 0 2

DM 1023 0 0 0 0

DM 1024 0 0 0 1

DM 1025 4 0 0 0

DM 1026 5 0 0 0

DM 1027 0 0 0 1

DM 1028 3 0 0 3

DM 1029 0 0 0 0

DM 1030 0 0 0 0

START

0CCW

Stop10000

DM 1084

Speed #3

#1 (continuous)

No. 2 (bank end)

DM 1085

#2Stop

START

15000CW

Transfer Data from Other PC Areas Section 5–4

97

Data To Be TransferredThe transfer data is entered in DM words 0010 to 0018. The data and posi-tioning actions are shown below.

0

#2 (bank end)

#0 (continuous)

No. 1

9000

Speed #4

DM 1085

DM 1084

Speed #3

START

CCW

Stop1000 15000

CW

Stop

START

DM 0010 3 0 0 2

DM 0011 9 0 0 0

DM 0012 0 0 0 0

DM 0013 4 0 0 0

DM 0014 5 0 0 0

DM 0015 0 0 0 1

DM 0016 3 0 0 3

DM 0017 1 0 0 0

DM 0018 0 0 0 0


98

Program

00407 (Transfer PB)

04001

04002

04001

04002

10010

10010

04003

00211

0400000211

1001004003

(Positioning started flag)

DIFU (13) 04001

DIFU (14) 04002

MOV (21)

#0000102

MOV (21)

#1022103

MOV (21)

#0300104

MOV (21)#0000

102

MOV (21)#0010103

MOV (21)

#0300104

DIFU (13) 04003

Transfers data from DM 0010 when 00407 is set.

Re-transfers data from DM 1022 when 00407 is reset.

Starts transfer

102 Beginning action no. (positioning action #0).

103 Beginning word no. (word 10)

104 Number of transfers (3)PC data area no. (0: DM)

(Three positioning actions transferred, beginning withDM 0010)

Transfer completed flag

Transfer completed flag



104 Number of transfers (3)PC data area no. (0: DM)

(Three positioning actions transferred, beginning withDM 1022)

10510 (end of transfer)DIFU (13) 04004

04004


99

5–5 Transfer Data from External SwitchesIn this example, positioning is executed in accordance with the number ofpulses set by external thumbwheel switches.

Configuration

C200HPC

Word 0

IN, 16 bits

SW1 (00010)SW2 (00000)Others

Word 2

IN, 16 bits

Word 3

IN, 16 bits

Thumbwheel SW (leftmost digits ofpositioning data)

Thumbwheel SW (rightmost digits ofpositioning data)

Driver/motor

Positioning ControlUnit #0

Data MemoryThe following is the minimum data required so that an alarm will not be gen-erated.

InitialpositionNo. 0 to 19

Originproximityspeed 1to F

DM 1082 2 0 0 0 Speed #1

DM 1083 0 5 0 0 Speed #2



Initialspeed

0 to F

LOW-SPEEDJOG 1 to F

ORIGINSEARCH1 to F

HIGH-SPEEDJOG 1 to F

ORIGINRETURNspeed 1 to F

DM 1000 1 0 0 0

DM 1001 1 2 1 2

Data To Be TransferredThree consecutive words are transferred for positioning action #0. The bits ofthe first word, which is allocated to the Position Control Unit, are used as in-ternal relays. The next two words are input from rotary switch connected toInput Units allocated word 2 and word 3. Thus, when TRANSFER DATA isexecuted with the beginning word designated as word 1, external data, whichhas been prepared according to the data format for positioning action data,can be used to achieve externally designated positioning actions.

Transfer Data from External Switches Section 5–5

100

Program

Sets speed #1 and completion code 3

Present position reset and positioningflag

RESET ORIGIN

START


Sets initial positioning action no. (#1)

(SW 1) 00010

(SW 2) 00000

03000

03001

03002

03002

10502 (origin stop)

10501 (bank end)

(SW 2)00000

(SW 1)00010

10512

(busy flag)

10512

(busy flag)

10512

03002

Origin re-set andposition-ing flag

03003

10010

03002

10008

10000

10001

DIFU (13) 03000

DIFU (13) 03001

MOV (21)

#0000

102

MOV (21)

#0001

103

MOV (21)

#0101

104

MOV (21)

#1003

001

MOV (21)

#0000

101

DIFU (13) 03003

Data transfer switches

Start switches



104 Number of transfers (1)PC data area no. (1: I/O)

TRANSFER DATA

Transfer Data from External Switches Section 5–5

101

5–6 Using START to Carry Out Positioning Actions

Wiring (Details Omitted)

To execute positioning in autoincrement mode, turnON 05 only. To forcibly execute the number specified by thethumbwheel switch, turn ON 06 and then 05.

ID211 ID212 OD211 NC111

IN, 8 bits

IN, 16 points

OUT, 12 points

C200HPC

Word 0 Word 1 Word 2 100 words

PRO27-E

Driver Motor

Switches

9 9 9 9

Thumbwheel switch

Display

24 VDC

CW limit

CCW limit

Emergency stop

Origin

Origin proximity

Short-circuitthese pins.

Connect manu-al-input switchesto these pins sothat the signalscan be manuallyturned ON/OFF.

The lower 2 digits are used tospecify initial positioning actionnumber.

Word 0

00 ORIGIN SEARCH

01 RELEASE PROHIBIT

02 JOG direction

03 HIGH-SPEED JOG

04 LOW-SPEED JOG

05 START

06 Valid initial positioning action no.

07 STOP

Position ControlUnit #0

To execute ORIGIN SEARCH, first turn ON this switch, andthen manually turn ON the origin proximity signal to stopfeeding.

Using START to Carry Out Positioning Actions Section 5–6

102

Feeding Pattern

1000

3000

3000

#0, single

#2, pause

#6, continu-ous

10000

5000

10000

2000

20000

4000 4000 4000

30000 40000 50000 60000

20000 30000 40000 42000 60000

1000

3000

3000

–6000

#14 (lastaction)

T = 0.5 s

#7

0

#1, single

#3, pause

#8 #9#10

#11, single

#12, pause

T = 1.0 s

T = 0.5 s

#4, pauseT = 1.0 s

#5, single

#13, pause


103

Program

ORIGIN SEARCH

RELEASE PROHIBIT

JOG direction

HIGH-SPEED JOG

LOW-SPEED JOG

START


STOP

Sets initial positioning action no. (00 to 19) Transfers contents of Word 1 to Word 101 Rightmost 2 digits are used.

Displays status

00000

00001

00002

00003

00004

00005

00006

00007

25313

25313

10004

10002

10012

10011

10013

10000

10001

10015

MOV (21)

001

101

MOV (21)

105

002

END (01)

DM Area Coding SheetUnit Number: 0

Allocated DM words:

DM 1000 through DM 1099

The first two digits of the word number have been eliminated from the follow-ing table. These are the same for all words and can be obtained by comput-ing the first DM word allocated to the Unit, which in this example is DM 1000.This word, designated m, is equal to 1000 plus 100 times the unit number.


104

1 0 1 2

2 3 4 5

2 0 0 0

0 0 0 0

0 0 0 0

0 0 0 0

0 8 0 0

0 0 0 0

0 8 0 0

0 5 0 0

0 0 0 0

0 5 0 0

1 0 0 0

0 0 0 0

0 0 0 1

8 0 0 0

0 0 0 0

0 0 0 0

0 0 0 2

5 0 0 0

0 0 0 1

0 0 0 0

6 0 0 0

0 0 0 0

0 0 0 1

7 0 0 0

0 0 0 0

0 0 0 2

8 1 5 1

0 0 0 0

0 0 0 3

9 1 A 1

0 0 0 0

0 0 0 4

Backlash com-pensation

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

15 00 Function W

Initial position nos.;speed nos.

Origin com-pensation anddirection

CW limit

CCW limit

Zone 0 CW limit

Zone 0 CCW limit

Zone 1 CW limit

Zone 1 CCW limit

Zone 2 CW limit

Zone 2 CCW limit

Not used




2


3

Transfer no.Transfer no.

15 00W Function



5


6



8



10





34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

80

81

82

83

84

85

86

87

88

89

90

91

92

93

94

95

96

97

98

99

W 15 00 Function



16


17


18


19

Speed #1

Speed #2

Speed #3

Speed #4

Speed #5

Speed #6

Speed #7

Speed #8

Speed #9

Speed #10

Speed #11

Speed #12

Speed #13

Speed #14

Speed #15

Speed units

Acceleration

Deceleration

20

21

22

23

24

25

9 1 A 1

0 0 0 0

0 0 0 5

9 1 0 0

0 0 0 0

0 0 0 6

8 1 0 2

0 0 0 0

0 0 0 1

9 2 0 2

0 0 0 0

0 0 0 2

6 3 0 2

0 0 0 0

0 0 0 3

7 4 0 2

0 0 0 0

0 0 0 4

3 5 0 2

2 0 0 0

0 0 0 4

A 6 0 0

0 0 0 0

0 0 0 6

6 0 5 1

3 0 0 0

0 0 0 0

8 0 0 1

6 0 0 0

1 0 0 0

A 0 0 3

0 0 0 0

0 0 0 0

5 0 0 0

5 0 0 0

0 5 0 0

4 0 0 0

0 3 0 0

1 0 0 0

2 0 0 0

3 0 0 0

4 0 0 0

5 0 0 0

6 0 0 0

7 0 0 0

8 0 0 0

9 0 0 0

1 0 0 0

8 0 0 0

0 1 0 0

0 0 5 0


105

5–7 Using Origin and Origin Proximity Signals

Configuration

24 VDC

ABABABA

BAB

20

13

12

11

10

Emergency stop

CW limit

CCW limit

Origin

C200H PCPosition Control Unit

Origin proximity

DIP Switch SettingsPin 3 ON (Designating presence of origin proximity signal)

Pin 4 ON (Designating N.O. contact for origin proximity signal)

Pin 5 ON (Designating N.C. contact for origin signal)

Using Origin and Origin Proximity Signals Section 5–7

106

Operation

10002SW

ORIGIN SEARCH

The possible search patterns for ORIGIN SEARCH using both an origin sig-nal and an origin proximity signal are as follows.

CCW

CCW

CCW

CW

CW

CW


Pulse output

Origin (Stop)

CW limit

1

0

START

STARTOrigin (Stop)

STARTOrigin (Stop)

5–8 Using Zones to Control Jogging

OperationThis examples shows how to use zones to change conditions for manual op-erations (jogging and inching). With the following setup and data, all manualoperations are possible in zone 0 except for the part of it occupied by zone 1.

Using Zones to Control Jogging Section 5–8

107

In zone 1, CCW manual feeding is prohibited.

CCW CW

0 200

100 5000300

Zone 0

Zone 1

DM Area Settings (Zone Data)

DM 1009 0 3 0 0

DM 1010 0 0 0 0

DM 1011 0 2 0 0

DM 1012 0 0 0 0

DM 1013 5 0 0 0

DM 1014 0 0 0 0

DM 1015 0 1 0 0

DM 1016 0 0 0 0

Zone 0 CW limit

Zone 0 CCW limit

Zone 1 CW limit

Zone 1 CCW limit

Zone 0

Zone 1

Program

CW JOG switch

JOG direction

CCW JOG switch

CCW JOG switch

10507

Zone 0 flag

10506

CW JOG switch

Zone 1 flag

10013

10012

Low-speed JOG

5–9 Controlling an R88D-EP06 ServodriverIn this connection example, an Omron R88D-EP06 Servodriver is used, andwiring employs the origin adjustment function of this model. The exampledemonstrates how to use a faster ORIGIN SEARCH proximity speed and yetincrease ORIGIN SEARCH accuracy. The Z-phase input is employed as theorigin signal for the Position Control Unit; the C200H-OC223 output-typerelay is employed as the H RET signal input for the servodriver.

Controlling an R88D-EP06 Servodriver Section 5–9

108

23

14

4

+

A20 B20

B13

A13

A12 B12

A10 B10

B5 A5

B2

CCW B3

B4

+5 VDC

24

N.C. switches (orshort circuit)

EM


Power for output

CCW limit

CW limit

Emergency stop

CW

0 V

5 VDC

12 to 24 VDC +

1

2

3

+CW –CW

+CCW OMRON R88M-EServomotor

OMRON R88D-EP06/EP12 Servodriver (marketed in Japan)

RUN

–CCW

A11

Origin proximity

OriginB11

N.C. limitswitches

13

27 H RET

78

INPGND

0 V

word 002Bit 00

OperationThis example shows use of the ORIGIN SEARCH command. It assumesthat the unit number of the Positioning Control Unit has been set to number0, and that word 002, bit 00 has been set for the H RET output.

After ORIGIN SEARCH, the servodriver H RET input (origin adjustment in-put) goes ON at the falling edge of the origin proximity signal. The servodriv-er automatically positions according to the Z-phase input. Execution of ORI-GIN SEARCH is completed when the origin input (servodriver’s positioningcompleted signal, INP) goes ON.


109

Timing Chart

Z-phase

Origin proximity(10715)

00200(Servodriver origin adjustmentinput)

Servodriver positioning completedsignal

Pulse output

ON

OFF

ON

OFF

ON

OFF

ON

OFF

DIP Switch SettingsPin 1: OFF

Pin 2: ON or OFF

Pin 3: ON

Pin 4: ON

Pin 5: ON

Pin 6: OFF

Pin 7: OFF

Pin 8: OFF


110

Program

ORIGIN SEARCH

04900 10512 (busy flag)

10002

10002

10513 (CW limit)

10514 (CCW limit)

04900

04901

10715

04902 04901

00200

10502

10002

DIFU (13) 04904

DIFU (13) 04900

IL (02)

04901

DIFD (14) 04902

00200

ILC (03)

04904

04902

10715

ORIGIN SEARCH and IL ONsignal during ORIGIN SEARCH

ORIGIN SEARCHbeing executed

Prohibits the origin adjustment commandfrom being output when origin proximitysignal is OFF during reverse feeding(i.e., ORIGIN SEARCH from inside originproximity area and reversing from limits).

Origin alignment command

(origin proximity signal)

5–10 Controlling a V-series Servodriver

The wiring is similar to and the program is the same as that for a DC servo-driver (see Section 5–9).

Controlling a V-series Servodriver Section 5–10

111

SECTION 6Error Processing

6–1 Alarms and Errors 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–2 Outputs to the IR Area 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–3 Alarm/Error Indicators 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–4 Troubleshooting from the PC 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–4–1 Error List for Special I/O Units 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–4–2 AR Area Error and Restart Bits for Special I/O Units 113. . . . . . . . . . . . . . . . . . . . . .

6–5 Basic Troubleshooting Chart 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–6 Detection of Abnormal Pulse Outputs 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

112

6–1 Alarms and ErrorsAlarms

Whenever the Position Control Unit is powered up, or data is transferred intothe Unit, checks are performed to ensure that the data is in proper form andcan be used for operation. If an error exists in speed or positioning actiondata at this time, an alarm code is generated. Errors that result in alarms in-clude BCD errors, out-of-range data, and no-data errors (when required datais set at 0). An alarm will thus be generated, for example, if the required set-tings are not made in the DM area of the PC. Operation can be continuedeven after an alarm has been generated, however, as long as the data thatgenerated the alarm is not used.

ErrorsIf operation is attempted with data for which an alarm has been generated,an error code will be generated and further operation will not be possible.Error codes can also be generated during pulse output, e.g., when an emer-gency stop results from CW limit input.

Refer to Appendix A and Appendix B for specific alarm and error codes.

6–2 Outputs to the IR AreaAlarm Flag

word n+5, bit 03

1: Alarm exists.


1: Error exists.

Alarm/Error Codesword n+6

This word contains only the most recent alarm or error code. Several errorand/or alarm codes can be read out in sequence by setting the READ ER-ROR command bit (bit 05 of word n). See 4–5 READ ERROR for details.

6–3 Alarm/Error IndicatorsThe existence of an alarm or error code is indicated both by the alarm/errorLED on the front panel (see figure below) and by the flags (see above) in theIR area of the PC.

Front Panel LED

ALARM indicator flashes when an alarm code hasbeen output and ERROR indicator lights when anerror has occurred.

NC111

RUN BUSY

CW

CCW

ALARM

ERROR

6–4 Troubleshooting from the PCAbnormalities in the Position Control Unit can be monitored from the C200HPC. It is monitored as a Special I/O Unit, and as such is treated the same asa High-Speed Counter.

Troubleshooting from the PC Section 6–4

113

6–4–1 Error List for Special I/O Units

Waiting for Special I/O Unit start-up.

Special I/O Unit has a hardware malfunction.

PC will not begin operation.

Replace the abnormal Special I/O Unit with a new Unit.

(The abnormal Unit displays only ”$”when the I/O table is read.)

Set unit numbers so that each is usedonly once.

(Unit numbers can be accessed byreading the I/O table.)

Obtain the abnormal unit number byreading AR bits 0000-0009 and removethe cause of the error. Then restart byturning on, then back off, the appropri-ate restart bit (AR bits 0100-0109). Ifthe Unit does not recover normal oper-ation after restarting, replace it with anew one.

Error Causes of Abnormality and Operating Status

Correction

Too many Special I/OUnits.

Same unit number has beenassigned to more than oneSpecial I/O Unit.

PC will not begin operation. SRbit 25415 is ON.

Refreshing between the CPUand the Special I/O Unit wasnot executed correctly.

Only the abnormal Unit will stopoperating. SR bit 25415 is ON.

Error in Special I/OUnit.

6–4–2 AR Area Error and Restart Bits for Special I/O Units

Error FlagsThe following error flags will turn ON when the same unit number is assignedto more than one Special I/O Unit, or when the refreshing operation betweenthe PC and the Special I/O Unit is not executed properly.

Bit Unit Number

AR 000 0

AR 001 1

AR 002 2

AR 003 3

AR 004 4

AR 005 5

AR 006 6

AR 007 7

AR 008 8

AR 009 9


114

Restart BitsThe following restart bits are turned off, on, then back off again to restartSpecial I/O Units. It is not necessary to turn off power to the Unit when itsrestart bit is used.

Bit Unit Number

AR 1000 0

AR 0101 1

AR 0102 2

AR 0103 3

AR 0104 4

AR 0105 5

AR 0106 6

AR 0107 7

AR 0108 8

AR 0109 9


115

6–5 Basic Troubleshooting Chart

START

Inputs and settingsmade for modelprograms

Pulse output?

Malfunction in motor ormotor driver possible.Contact Omron agent.

Error generated?

Read out error and/oralarm codes.

Remove the external factors that might be

causing error.

Dose trouble still remain evenif power supply for other equip-ment is switched off?

Motor

rotating?

Model operation

OK?

Count pulses.

Count the frequencyand number of

pulses at input to the motor driver.

Required number of pulses sup–

plied?

Wiring error;

correct.

Check CW and CCWLEDs on front panel.

Check alarm/error LED on

front panel.

Use up/downcounter.

Observeinput on syn-chroscope.

PC program errorpossible; check

and correct.

Required number of

pulses generated?

Malfunction in hardware

possible.Contact Omron agent and replace component.

Noise a conceivable cause.Check according to wiringprecautions at the end of

Wiring.

Observemotoraxis.

Use up/downcounter

Yes

Yes

No

No

Yes

Yes

Yes

Yes

Yes

No

No

No

No

No

Con

firm

atio

n pf

sta

tisC

orre

ctio

n ta

ken

by U

ser

Con

tact

Om

ron

orO

mro

n ag

ent

Basic Troubleshooting Chart Section 6–5

116

6–6 Detection of Abnormal Pulse Outputs

The Position Control Unit outputs pulse trains in accordance with the pro-grammed data. When tracing an abnormality, the following should be takeninto consideration.

Number of Pulses inPulse Train

The Unit only outputs the number of pulses required to reach the desired po-sition. Count the number of pulses being output with an up/down counter andcheck to see if the proper number of pulses is being output.

Frequency ofPulse Train Output

The frequency of pulse train output can be observed on a synchroscope atthe constant speed interval of the trapezoidal acceleration/deceleration. Tomeasure the frequency during acceleration and deceleration, an F/V con-verter and X-Y recorder can be used.

Trapezoidal acceleration/deceleration

F/V converter

X-Y recorder

Time (s)

Acceleration/decelera-tion (measured with anF/V converter and anX-Y recorder).

(measured on a synchroscope)Constant speed interval frequency

Frequency f(pps)

Shaded area: Number of pulses (measured with anup/down counter)


Pulse train output

Detection of Abnormal Pulse Outputs Section 6–6

117

Connections to anUp/Down Counter

CW pulse

Position Control Unit Driver

5 V

UP/DOWN counter

UP.P

RESET

0 V

12 V

DOWN.P

P

15

12 V

16

12

N

CCW pulse

Detection of Abnormal Pulse Outputs Section 6–6

119

Appendix AAlarm Code List

Area

Initial speed

Initial position-ing action no.

Jog operations

Acceleration/deceleration

ORIGIN RETURN

Speeds

ORIGINSEARCH

Item

BCD error

Limit error

HIGH-SPEEDJOG speed error

LOW-SPEEDJOG speed error

Speed contradiction

Acceleration error

Deceleration error

Speed error

Speed contradiction

BCD error

Origin compensationBCD error

Alarm Code

1000

1100

1200

1201

1202

1300

1301

1400

1500

1501

1502-1515

1600

Problem

There is a BCD error in the speed indicated by the initialspeed number.

Initial positioning action number is not between 00 and 19.

HIGH-SPEED JOG speed number is 0, or there is a BCDerror in the speed designated by the number.

LOW-SPEED JOG speed number is 0, or there is a BCDerror in the speed designated by the number.

The LOW-SPEED JOG is faster than the HIGH SPEEDJOG.

Acceleration is 0, or contains a BCD error.

Deceleration is 0 or contains a BCD error.

ORIGIN RETURN speed designated by the number is 0,or there is a BCD error in the speed designated by thenumber.

Table for trapezoidal acceleration/deceleration cannot becreated due to error in speed, acceleration, or decelera-tion.

There is a BCD error in speed #1 (m+82).

There is a BCD error in a speed #2 to #15 (m+83 tom+96). The last two digits of the alarm code is the numberof the speed with the error.

Origin compensation contains a BCD error or exceeds theinternal limit.

Alarm Code List Appendix A

120

Area

ORIGIN SEARCH

Backlash compensation

Internal limits

Zones

Item

High speed error

Proximity speed error

Speed contradiction

BCD error

CW limit

CCW limit

Zone 0 CW error

Zone 0 CCW error

Zone 0 contradiction

Zone I CW error

Zone I CCW error

Zone I contradiction

Alarm code

1601

1602

1603

1700

1800

1801

1900

1901

1902

1910

1911

1912

Problem

ORIGIN SEARCH high speed number is 0, orthere is a BCD error in the speed designated bythe number.

ORIGIN SEARCH proximity speed number is 0,or there is a BCD error in the speed designatedby the number.

High speed is slower than proximity speed.

There is a BCD error in the backlash compensa-tion.

There is a BCD error in internal CW limit settingor the setting is not between 0 and 8,388,606.

There is a BCD error in internal CCW limit settingor the setting is not between 0 and 8,388,607.

There is a BCD error in setting for CW limit ofzone 0 or setting is not between –8,388,607 and8,388,606.

There is a BCD error in setting for CCW limit ofzone 0 or setting is not between –8,388,607 and8,388,606.

CW and CCW limit setting for zone 0 are re-versed (i.e., CW limit is counterclockwise ofCCW limit).

Problems are identical to those for zone 0.

(continued)

Appendix AAlarm Code List

121

Area

Zones

Positioning actions

Item

Zone 2 CW error

Zone 2 CCW error

Zone 2 contradiction

Desired position BCD error

Speed BCD error

Position contradiction

Completion code error

Alarm code

1920

1921

1922

2000

2001-2019

2100

2101-2119

2200

2300

2301-2319

Problem

Problems are identical to those for zone 0.

There is a BCD error in the desired position forpositioning action #0 (m+22 to m+24).

There is a BCD error in the desired position for apositioning action #1 to #19 (m+25 to m+81). Thelast two digits of the alarm code is the number ofthe positioning action with the error.

There is a BCD error in the speed (m+82 to m+96)designated by the speed number for positioningaction #0 (m+22 to m+24).

There is a BCD error in the speed (m+82 to m+96)for a positioning action #1 to #19 (m+25 to m+81).The last two digits of the alarm code is the numberof the positioning action.

The completion codes for all positioning actions are2 (continuous); the Unit cannot begin operation.

Completion code for positioning action #0 is notbetween 0 and 4.

Completion code for the positioning action indi-cated by the last two digits of the alarm code is notbetween 0 and 4.

123

Appendix BError Code List

Error

START

Direction reversed

CW limit

CCW limit

Present positionundefined

Stopped at CW limit

Stopped at CCWlimit

Manual CW limit

Manual CCW limit

ORIGIN SEARCHdisabled

Error code

5000

5020

5030

5031

5040

5060

5061

5070

5071

5100

Problem

Pulses cannot be output for STARTcommand because of data that gener-ated an alarm. This data includes theinitial speed, initial positioning actionnumber, acceleration, deceleration,backlash compensation, internal CWlimit, internal CCW limit, speed and de-sired position.

Pulse output is not possible because thedirection was reversed following a con-tinuous positioning action.

Pulse output is not possible because theinternal CW limit would be passed.

Pulse output is not possible because theinternal CCW limit would be passed.

Execution of START, TEACH, or ORI-GIN RETURN is not possible becausethe present position has not been estab-lished.

An attempt was made to feed clockwiseusing HIGH-SPEED JOG, LOW-SPEEDJOG, or INCH following RELEASEPROHIBIT after feeding had beenstopped at CCW limit.

An attempt was made to feed counter-clockwise using HIGH-SPEED JOG,LOW-SPEED JOG, or INCH followingRELEASE PROHIBIT after feeding hadbeen stopped at CCW limit.

The internal CW limit was reached andfeeding stopped during execution ofHIGH-SPEED JOG, LOW-SPEED JOG,or INCH.

The internal CCW limit was reached andfeeding stopped during execution ofHIGH-SPEED JOG, LOW-SPEED JOG,or INCH.

ORIGIN SEARCH cannot be executedbecause of data for the origin compen-sation, search speeds, or backlash com-pensation that generated an alarm code.

Correction

Read out alarm code, correct dataaccordingly, and TRANSFER DATAor RESTART. The error code willbe erased for the next START ifdata has been properly corrected.

Check positioning actions,correctdata accordingly, and TRANSFERDATA or RESTART.

Execute ORIGIN SEARCH, RE-SET ORIGIN, or preset the presentposition with TRANSFER DATA.

Feed counterclockwise.

Feed clockwise.

Read out alarm code and correctdata accordingly.

(continued)

Error Code List Appendix B

124

Error

ORIGIN RETURNdisabled

HIGH-SPEEDJOG disabled

LOW-SPEED JOGdisabled

INCH disabled

Emergency stopexecuted

CW limit

CCW limit

No origin proximitysignal

Error code

5200

5300

5400

5500

6000

6100

6101

6200

Problem

ORIGIN RETURN cannot be executedbecause of data for ORIGIN RETURNspeed or backlash compensation thatgenerated alarm.

HIGH-SPEED JOG cannot be executedbecause of data for HIGH-SPEED JOGspeed, initial speed, acceleration, decel-eration, or backlash compensation thatgenerated an alarm.

LOW-SPEED JOG cannot be executedbecause of data for LOW-SPEED JOGspeed, initial speed, or backlash compen-sation that generated an alarm.

INCH cannot be executed because ofdata for backlash compensation that gen-erated an alarm.

Feeding has been stopped by emergencystop signal input.

Feeding has been stopped by CW limitsignal input.

Feeding has been stopped by CCW limitsignal input.

No proximity signal is detected betweenthe CCW and CW limits even though pin#3 on DIP switch designates a proximitysignal.

Correction

Read out alarm code and correct andcorrect data accordingly.

Check wiring.Turn off emergencystop signal and execute RELEASEPROHIBIT and ORIGIN SEARCH.

Check wiring. Execute RELEASEPROHIBIT and then feed counter-clockwise using HIGH-SPEED JOG,LOW-SPEED JOG, or INCH (or exe-cute ORIGIN SEARCH, RESET ORI-GIN or TRANSFER DATA after RE-LEASE PROHIBIT).

Check wiring. Execute RELEASEPROHIBIT and then feed clockwiseusing HIGH-SPEED JOG,LOW-SPEED JOG, or INCH (or exe-cute ORIGIN SEARCH, RESET ORI-GIN or TRANSFER DATA after RE-LEASE PROHIBIT).

Check DIP switch setting, wiring ofproximity signal, and signal type(N.C. or N.O.).

(continued)

Appendix BError Code List

125

Error

No-origin flag

Origin signalposition

CounterclockwiseCW limit

Clockwise CCWlimit

PC mode change

CHANGE SPEED

Multiple command

Initial positioningaction no.

TEACH positioningaction no.

Error code

6201

6202

6400

6401

6600

6700

8000

8100

8200

Problem

The origin signal is not detected betweenCCW and CW limits.

Feeding was stopped by origin signal inputduring ORIGIN SEARCH before the proximityspeed was reached, i.e., proximity signal andorigin signal are too close relative to time re-quired for deceleration from high speed toproximity speed

CW limit signal was input while feeding coun-terclockwise .

CCW limit signal was input while feedingclockwise.

PC mode was changed between MONITORand PROGRAM during pulse output.

Feeding has been stopped followingCHANGE SPEED due to data for the speedof the next positioning action for which analarm was generated.

More than one command bit among 00, 02,03, 04, 08, 09, 10, 11, 13 and 14, of word n,has been set.

Initial positioning action number contained inIR area is not between 00 and 19.

TEACH positioning action number is not be-tween 00 and 19.

Correction

Check wiring of origin signal andsignal type (N.C. or N.O.)

Check position of origin signaland proximity signal relative torequired deceleration.

Check wiring of limit signals.

Check wiring of limit signals.

Execute ORIGIN SEARCH toobtain present position.

Check speed data. If problem iscorrected, this error code will beerased by the next START.

Check program. This error codewill be erased when only onecommand bit in word n remainsset.

Check program. If problem iscorrected, this error code will beerased by the next START.

Check program. If problem iscorrected, this error code will beerased by the next TEACH.

(continued)

Error Code List Appendix B

126

Error

ROM in PC

Transferred posi-tioning action no.

PC beginning wordnumber

PC area number

Number of transfers

Present positionpreset

Hardware

Error code

8210

8300

8301

8302

8303

8304

9000

9100

9200

Problem

TEACH cannot be executed becausePC user program memory is ROM.

Beginning transfer number for TRANS-FER DATA is not between 00 and 25.

Beginning PC word number forTRANSFER DATA is out of range orbecomes out of range when the desig-nated number of transfers is added.(See 4–8 TRANSFER DATA for rangedetails.)

PC area number for TRANSFER DATAis not between 0 and 4.

The number of transfers for TRANS-FER DATA is not between 1 and 26.

The position preset with TRANSFERDATA contains a BCD error or is out ofrange.

LSI operation at start-up is not com-pleted normally.

Desired position for a positioning actionhas been exceeded.

Speed for a positioning action has beenexceeded.

Correction

Check program. This error codewill be erased by the nextTRANSFER DATA.



Check program and data in PC.

Hardware is possibly faulty.

Hardware is possibly faulty or er-ror is possibly caused by noise.

127

Appendix CDM Area Allocations

The first two digits of the word number have been eliminated from the follow-ing table. These are the same for all words and can be obtained by comput-ing the first DM word allocated to the Unit. This word, designated m, is equalto 1000 plus 100 times the unit number.

0 CW1 CCW

Word

m

m+1

m+2

m+3

m+4

m+5

m+6

m+7

m+8

m+9

m+10

Bit Function

07 to 00 11 to 08

15 to 12

03 to 00

07 to 04

11 to 08

15 to 12

15 to 00

00

15 to 01

15 to 00

15 to 00

11 to 00

15 to 12

15 to 00

11 to 00

15 to 12

15 to 00

15 to 00

Initial position no., 00 to 19 (BCD): Initial START and START after bank end. Initial speed no., 0 to F (hexadecimal)

ORIGIN RETURN speed no., 1 to F (hexadecimal)

ORIGIN SEARCH proximity speed no., 1 to F (hexadecimal)

ORIGIN SEARCH high speed no., 1 to F (hexadecimal)

LOW-SPEED JOG speed no., 1 to F (hexadecimal)

HIGH-SPEED JOG speed no., 1 to F (hexadecimal)

Origin compensation value, 0000 to 9999 (BCD)

Origin compensation direction digit (0: CW; 1: CCW)

Not used

Backlash compensation value, 0000 to 9999 (BCD)

Internally set value of CW limit

x106 x105 x104 x103 x102 x101 x100

m+6 m+5

x106 x105 x104 x103 x102 x101 x100

m+8 m+7

(7 digits BCD)

Not used

Internally set value of CCW limit

(7 digits BCD)

Not used

x106 x105 x104 x103 x102 x101 x100

m+10 m+9

Zone 0: CW side

direc-tion

(7 digits BCD with direction digit)

DM Area Allocations Appendix C

128

Word Bit Function

m+11

m+12

m+13

m+14

m+15

m+16

m+17

m+18

m+19

m+20

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

0 CW1 CCW

x106 x105 x104 x103 x102 x101 x100

m+12 m+11

direc-tion


Zone 0: CCW side

0 CW1 CCW

x106 x105 x104 x103 x102 x101 x100

m+14 m+13

direc-tion


Zone 1: CW side

0 CW1 CCW

x106 x105 x104 x103 x102 x101 x100

m+16 m+15

direc-tion


Zone 1: CCW side

0 CW1 CCW

x106 x105 x104 x103 x102 x101 x100

m+18 m+17

direc-tion


Zone 2: CW side

0 CW1 CCW

x106 x105 x104 x103 x102 x101 x100

m+20 m+19

direc-tion


Zone 2: CCW side


129

1 CCW0 CW

Bit Function

m+21

m+22

m+23

m+24

m+25m+26m+27

m+28m+29m+30

m+31m+32m+33

m+34m+35m+36

m+37m+38m+39

m+40m+41m+42

m+43m+44m+45

m+46m+47m+48

m+49m+50m+51

03 to 00

07 to 04

11 to 08

15 to 12

15 to 00

15 to 00

Not used

Completion code 0: Single 3: Bank end1: Pause 4: Extended2: Continuous

Dwell time 0 to F (hexadecimal) in units of 0.1 s

Output code 0 to F (hexadecimal)

Desired speed no. 1 to F (hexadecimal)

x106 x105 x104 x103 x102 x101 x100

m+24 m+23

direc-tion

Desired position (pulses)

2 CW3 CCW

Absolute

Incremental

Positioning action #0(Transfer data #0)

Data format same as for positioning action #0


















Word

DM Area Allocations Appendix C

130

Word Bit Function




















m+52 m+53m+54

m+55m+56m+57

m+58m+59m+60

m+61m+62m+63

m+64m+65m+66

m+67m+68m+69

m+70m+71m+72

m+73m+74m+75

m+76m+77m+78

m+79m+80m+81

m+82

m+83

m+84

m+85

m+86

m+87

m+88

m+89

m+90


15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

Speed #1 0000 to 9999 (BCD)

Speed #2 0000 to 9999 (BCD)

Speed #3 0000 to 9999 (BCD)

Speed #4 0000 to 9999 (BCD)

Speed #5 0000 to 9999 (BCD)

Speed #6 0000 to 9999 (BCD)

Speed #7 0000 to 9999 (BCD)

Speed #8 0000 to 9999 (BCD)

Speed #9 0000 to 9999 (BCD)

Transfer data #20

Transfer data #21

Transfer data #22


131

Word Bit Function

m+91

m+92

m+93

m+94

m+95

m+96

m+97

m+98

m+99

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

15 to 00

Speed #10 0000 to 9999 (BCD)

Speed #11 0000 to 9999 (BCD)

Speed #12 0000 to 9999 (BCD)

Speed #13 0000 to 9999 (BCD)

Speed #14 0000 to 9999 (BCD)

Speed #15 0000 to 9999 (BCD)

Transfer data #23

Transfer data #24

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

Not used

Unit for speed #1

Unit for speed #2

Unit for speed #3

Unit for speed #4

Unit for speed #5

Unit for speed #6

Unit for speed #7

Unit for speed #8

Unit for speed #9

Unit for speed #10

Unit for speed #11

Unit for speed #12

Unit for speed #13

Unit for speed #14

Unit for speed #15

Transfer data #25

11 to 00

15 to 12

11 to 00

15 to 12

Acceleration data 001 to 999 (BCD)(speed incremented in ms)

Deceleration data 001 to 999 (BCD)(speed decremented in ms)

Not used

Not used

0

1

x 1 pps

x 10 pps

133

Appendix DIR Area Allocations

Function ( : leading edge; : trailing edge)

Outputs (n = 10 xunit no.

Word Bit

n

n+1

n+2

n+3

n+4

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

07 to 00

15 to 08

07 to 00

14 to 08

15

15 to 00

07 to 00

15 to 08

START: At the leading edge ( ) of this bit, the Position Control Unit referencesbits 01 and 07 of ch n and begins positioning.

Valid initial positioning no.: When set to 1, the initial positioning no. set in bits 07to 00 of word n+1 is valid. When set to 0, the initial positioning no. set in bits 07 to00 of DM word m is valid.

ORIGIN SEARCH: ( ) Searches for origin proximity signals and origin sig-nals, and determines the origin.

ORIGIN RETURN: ( ) Returns to the origin (as long as the origin has al-ready been determined).

RELEASE PROHIBIT: ( )

READ ERROR: ( )

CHANGE SPEED: ( ) if DIP switch pin no. 6 is ON. If pin no. 6 is OFF, thenthis bit executes CHANGE SPEED when set to 1 and STOP when set to 0.

Valid speed coefficient:: When set to 1, the speed coefficient set in bits 07 to 00of word n+2 is valid. When set to 0, the speed coefficient of the desired speed isset at 1.0.

RESET ORIGIN: ( )

TEACH: ( ) References bits 15 to 08 of word n+1 and registers the presentposition.

TRANSFER DATA: ( ) References words n+2 to n+4 and begins the trans-fer of data.

HIGH-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 ofword n.

INCH/JOG direction: (0: CW, 1: CCW)

LOW-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 ofword n.

INCH: ( ) Outputs one pulse.

STOP: ( ) The Positioning cannot be restarted while this bit is set to 1.

Initial positioning action number: 00 to 19 (BCD)

TEACH positioning action number: 00 to 19 (BCD)

Speed coefficient:: 00 to 20 (BCD) in units of x 0.1

Beginning transfer number: 00 to 25 (BCD)

When set to 1, presets the present position during DATA TRANSFER.

Beginning word number for DATA TRANSFER (4 digits BCD)

PC data area for DATA TRANSFER: 00 to 04 (BCD) (00: DM, 01: I/O, 02: LR,03: HR, 04: AR)

Number of transfers for DATA TRANSFER: 01 to 26 (BCD)

IR Area Allocations Appendix D

134

Function ( : leading edge; : trailing edge)Word Bit

Inputs (n = 100x unit no.

n+5

n+6

n+7

n+8

n+9

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

15 to 00

07 to 00

11 to 08

12

13

14

15

15 to 00

15 to 00

Positioning completed flag: ( : completed, : starting

Bank completed flag: ( : bank completed, : starting

At-origin flag: (1: stopped at origin)

Alarm flag: (1: alarm)

Emergency stop flag: ( : Emergency stop, : pulse output enabled

Error flag: (1: error)

Zone 0 flag: (0: outside zone 0, 1: inside zone 0)



Teaching completed flag: ( : completed, : starting)

Transfer completed flag: ( : completed, : starting)

No-origin flag: (1: no origin)

Busy flag: (1: busy) during transfer or pulse output

CW limit flag: (1: CW limit signal is being input.)

CCW limit flag: (1: CCW limit signal is being input.)

STOP flag: ( : STOP executed, : operation begins)

Error code: 4 digits (BCD)

Positioning action number: 00 to 19 (BCD)

Output code: 0 to F (BCD)

Emergency stop signal: (1: Emergency stop signal is being input.)

External interrupt signal: (1: External interrupt signal is being input.)

Origin signal: (1: Origin signal is being input.)

Origin proximity signal: (1: Origin proximity signal is being input.)

0 CW1 CCW

x106 x105 x104 x103 x102 x101 x100

m+9 m+8

direc-tion


Present position

Appendix DIR Area Allocations

135

Detailed IR AreaAllocation Table

FunctionWord Bit

n+5

00

01

02

03

04

05

000708

09

10

11

12

Positioning completed flag This bit turns OFF when positioning, ORIGIN SEARCH, or ORIGIN RETURN are started. Itturns ON when positioning is completed (for single or bank end positioning actions). It doesnot turn when STOP is executed during operation.

Bank completed flagThis bit turns OFF when positioning, ORIGIN SEARCH, or ORIGIN RETURN are started. Itturns ON when positioning is completed for a bank.

At-origin flagThis bit turns ON when positioning stops at the origin. It does not turn ON when the origin ispassed during operation.

Alarm flagThis bit turns ON when an alarm code (1*** or 2***) has been generated.

Emergency stop flagThis bit turns ON when an emergency stop signal is externally input, regardless of whetherthe Position Control Unit is operating or not. Pulse output is prohibited during this time. Thisbit turns OFF when the emergency stop signal is turned off and RELEASE PROHIBIT (bit 04of word n) is turned ON.

Error flagThis bit turns ON when error code (5*** or 9***) has been generated.

Zone 0 flagZone 1 flagZone 2 flagThese bits turn ON when the present position is within the zone ranges set in DM words m+9and m+20.

Teaching completed flagThis bit turns OFF when TEACH is executed and ON when teaching is completed.

Transfer completed flagThis bit turns OFF when TRANSFER DATA is executed and ON when data transfer is com-pleted.

No-origin flagThis bit turns ON during initial processing and OFF when the origin has been determined. Thefollowing conditions cause this bit to turn ON:

• When positioning is stopped by an emergency stop or by a CW/CCW limit signal.• When an extended completion code is executed.• When positioning is stopped due to changing the PC’s mode during pulse output.

(i.e., changing RUN to PROGRAM).• When positioning is stopped during operation due to a hardware error.• When ORIGIN SEARCH is executed.

The following conditions cause this bit to turn OFF:• When the origin signal is input during ORIGIN SEARCH.• When RESET ORIGIN is completed.• When the present position has been reset.

Busy flagThis bit remains ON during initial data transfer or during calculation. It turns ON wheneverprocessing is started and OFF when it is completed. It also turns OFF after information hasbeen set for completion flags (such as for positioning, teaching, and transfer), or after an erroris generated and the error code and error flag are set. If the positioning time is too short, itmay not be possible to read the ON status of this flag during the ladder scan.

IR Area Allocations Appendix D

136

FunctionWord Bit

n+5

n+6

n+7

n+8n+9

13 1

15

15 to 00

07 to 00

11 to 08

12131415

15 to 0015 to 00

CW limit flag CCW limit flagThese bits turn ON while the respective external signals are being input.

STOP flagThis bit goes ON when positioning, ORIGIN SEARCH, ORIGIN RETURN, or JOG stop inresponse to either an external interrupt signal or the STOP command bit (word n, bit 15). Itgoes OFF when any of the above operations is started.

Error codeOnly the most recent error code is output. Further codes can be accessed in order by exe-cuting READ ERROR (word n, bit 05). Read-out does not erase error codes.

Positioning action numberThese bits output a positioning action number during positioning. Upon completion of posi-tioning, they output the next positioning action number to be executed. The positioning ac-tion number is automatically incremented except in cases where STOP has been executedduring positioning. In such cases, the number which was being executed at the time is takenas the next number to be executed. After the bank has been completed, or after positioningaction #19 has been executed, the initial position set in DM word m is output.

Output codeThese bits output the output code for the completed positioning action. Use this data (0 to F)as a bit in a program as follows:

MPLX (76)

107

#0002

HR 10

25313

Normally ON

Emergency stop signalExternal interrupt signalOrigin signalOrigin proximity signalEach of these bits turns ON when its respective signal is input.. These bits are used for sys-tem debugging. Confirm wiring by reading these bits on the Programming Console whilepressing switches by hand or using JOG to pass over switches. The bits turn ON at the trail-ing edge when the signal is input through an N.C. contact, and at the leading edge wheninput through an N.O. contact. Do not use use during programming.

Present positionThe present position is always output as an absolute value (i.e., not as an increment)through these channels. After powering up, output is as follows:

n+9

0999

n+8

99xx

137

Appendix ESpecifications

GeneralConform to C-Series specifications.

Performance

Item Specifications

Number of axes

Control system

Positions

Number of positions

Speeds

Number of speeds

Acceleration/deceleration

Origin search

Backlash compensation

Manual operation

Internal current

Dimensions (mm)

Weight

1 per Unit

Automatic trapezoidal acceleration/deceleration system

–8,388,607 pulses to +8,388,606 pulses

20

1 to 99,990 pps

15

1 to 999 pps/ms

Origin proximity: Either absent, N.O. input, or N.C. input (selectable)

Origin signal: Either N.O. input or N.C. input (selectable)Origin compensation: 0 to 9,999 pulses.Origin search speeds: High speed and proximity speed

available

0 to 9,999 pulses

High-speed jog, low-speed jog, and inching

200 mA max. at 5 VDC (consumption from Rack)

130 (h) x 35 (w) x 100.5 (d)

400 g max. (excluding connectors)

Electrical Input

Item Specifications

Voltage

Current

ON voltage

OFF voltage

ON response time

OFF response time

10.8 to 26.4 VDC ±10% 5 mA (at 12 V) to 11 mA (at 24 V)

10.2 VDC min.

3.0 VDC max.

1 ms max.

1 ms max.

Specifications Appendix E

138

Electrical Output

Item Specifications

Max. switching capacity

Min. switching capacity

Leakage current

Residual voltage

Power for external supply

Duty factor

Min. pulse width (at 100-kpps output)

30 mA at 4.5 to 26.4 VDC ±10%, NPN open collector

2.5 mA at 4.5 to 26.4 VDC, NPN open collector

0.1 mA max.

0.4 V max.

5 VDC ±5%, 24 VDC (30 mA max.) 50% ±15%

+10%

–25%

5 µs min. 5 µs min.

10 µs min.

ON

OFF

139

Appendix FStandard Models

Name Remarks Model

CPU Output current: 3 A (1.6 A to I/O Units) 100 to 120/200 to 240VAC

C200H-CPU01-E

24 VDC C200H-CPU03-E

SYSMAC NET Link Unit/SYSMACLink Unit is mountable

100 to 120/200 to 240VAC

C200H-CPU11-E

Programming Console Vertical type, w/backlight C200H-PR027-E

Programming Console and Data For vertical type: 2 m C200H-CN222

Access Console ConnectingCable

4 m C200H-CN422

Position Control Pulse string output C200H-NC111

141

Glossary

absolute target positionA target position given in respect to the origin rather than in respect to thepresent position.

alarm codeA four-digit code which is output to a word in the IR area to identify the typeof alarm which has occurred.

AR areaA PC data area which is used for system flags and status information. Data isretained in this area during a power failure.

backlash compensationCompensation for the amount of mechanical play, or ‘looseness’ present ingears. Such play can create positioning inaccuracy when the direction of po-sitioning changes.

bankA combination of several positioning actions or sequences. A bank beginswhen START is executed for the initial positioning action and ends when aposition action with a “bank end” completion code has been executed.

bank end (completion)A positioning action completion code that designates the positioning actionas the final one in a bank.

BCDAn acronym for binary-coded decimal. This is used to refer to decimal num-bers encoded in binary.

completion codeA parameter for positioning actions that designates what is to happen when aparticular positioning action has been completed. The four possible comple-tion codes are as follows: single, pause, continuous, bank end, and ex-tended.

continuous (completion)A positioning action completion code that causes the next positioning actionto be executed immediately upon completion of the current one.

CW and CCWAbbreviations for clockwise (CW) and counterclockwise (CCW). CW andCCW are defined for a motor shaft in reference to a viewer facing the shafton the end of the motor from which the shaft extends from the motor for con-nection.

CW/CCW limitsLimits on the CW and CCW sides of the origin which can be internally set torestrict Position Control Unit operation.

data areaA memory storage area in the PC. Different types of memory blocks, withdiffering functions, are stored in the various data areas of the PC. Theseblocks of memory are built up from single units, or bits, which are groupedinto 16-bit words.

Glossary

142

DM areaA PC data area in which general operating parameters, speeds, and parame-ters for positioning actions are stored.

dwell timeA parameter that specifies the period of time during which positioning willstop before execution of the next positioning action following a positioningaction with a pause completion code.

error codeA four-digit code which is output to a word in the IR area to identify the typeof error which has occurred.

error counterA device used to ensure positioning accuracy when positioning via pulsetrains. The error counter receives a target position as a specific number ofpulses in a pulse train from the Position Control Unit and outputs analogspeed voltages to drive a servomotor accordingly. The specified number ofpulses in the error counter is counted down by feedback from an encodermeasuring actual motor shaft movement, causing voltage output to stopwhen the number of pulses equals zero, i.e., when the target position hasbeen reached.

external interruptA function whereby positioning may be stopped or speed may be changed,during operation, in response to an external command.

flagA bit that is turned ON and OFF automatically by the system to providestatus information.

host computerA computer that is used to transfer data to or receive data from a PC in aHost Link System. The host computer is used for data management andoverall system control. Host computers are generally small personal or busi-ness computers.

IN refresh areaThe last five of the ten IR words allocated to each Position Control Unit asrefresh areas.

inchingManual feeding wherein positioning is executed one pulse at a time.

incremental targetposition

A target position given in respect to the present position, rather than in re-spect to the origin.

initial positionThe present position when START is executed.

IR areaA PC data area allocated for inputs, outputs, and work bits. In the C200H,words 100 through 199 of this area are reserved for Special I/O Units, includ-ing the Position Control Unit. The Position Control Unit uses these words forI/O refresh areas.

N.C. contactsNormally-closed contacts. A pair of contacts on a relay that open when therelay is energized.

Glossary

143

N.O. contactsNormally-open contacts. A pair of contacts on a relay that close when therelay is energized.

open-loop systemA control system in which operations are carried out according to pro-grammed instructions, but in which feedback is not provided for automaticadjustments.

origin compensationA parameter used to correct the origin from the position determined accord-ing to the origin input signal.

origin proximity signalA signal input to indicate when the position is near the origin to enable shift-ing to a lower speed.

origin proximityThe region near the origin. When positioning enters this region, a proximityswitch may output a signal for deceleration.

originThe point which is designated as 0 at any given time.

OUT refresh areaThe first five of the ten IR words allocated to each Position Control Unit asrefresh areas.

output codeUser-defined codes output following completion of a positioning action.

parametersData which determines limits and other conditions under which an operationwill be carried out. The Position Control Unit has both general parametersand parameters specific to individual positioning actions.

pause (completion)A positioning action completion code that creates a pause after reaching thetarget position for the positioning action and then automatically begins thenext positioning action. The length of the pause is specified by the dwell time.

positioning actionThe smallest increment of positioning possible. A positioning action is definedby its completion code, dwell time, output code, speed number, and targetposition. These actions are generally referred to by number and completioncode. For example, “#6, continuous” indicates positioning action #6 with acontinuous completion code.

present positionThe numeric value in pulses defined as being the ‘location’ of the positioningsystem at any one point in time. The present position is not absolute, butrather can be defined or redefined as required by positioning operations.

proximity speedA low speed at which positioning is executed near the origin.

pulse rateThe distance moved by an object driven by a motor divided by the number ofpulses required for that movement.

Glossary

144

pulse trainA series of pulses output together.

pulsesDiscrete signals sent at a certain rate. The Position Control Unit outputspulses, each of which designates a certain amount of movement. Suchpulses are converted to an equivalent control voltage in actual positioning.

Remote I/O Master UnitThe Unit in a Remote I/O System through which signals are sent to all otherRemote I/O Units. The Remote I/O Master Unit is mounted either to a CPURack or to an Expansion I/O Rack connected to the CPU Rack.

Remote I/O SystemA system in which remote I/O points are controlled through a Mastermounted to a CPU Rack or an Expansion I/O Rack connected to the CPURack.

Remote I/O UnitsAny of the Units in a Remote I/O System. Remote I/O Units include Masters,Slaves, Optical I/O Units, I/O Link Units, and Remote Terminals.

response timeThe time it takes for the PC to output a control signal after it has received aninput signal. The response time depends on factors such as the system con-figuration and when the CPU receives the input signal relative to the start ofa scan.

scan timeThe total time required for the PC to perform all of the operations involved inexecuting the program in its memory. The duration of the scan time differsdepending on the configuration of the system, the number of I/O points, theprogramming instructions used, and so on.

search patternThe pattern in which origin search is carried out. The particular search pat-tern performed depends on the position of the origin with respect to the initialposition and the search direction (CW or CCW).

semiclosed-loop systemA control system in which a PC controls an external process without humanintervention. This system provides feedback (via a tachogenerator and a ro-tary encoder) so that actual values (of positions, speeds, and so on) are con-tinuously adjusted to bring them more closely in line with target values.

servolockAn operation whereby a rotary encoder is used to maintain the position of amotor while it is stopped. Whenever the motor axis moves, the rotary en-coder sends a feedback pulse to an error counter, causing a rotation voltageto be generated in the reverse direction so that the motor rotates back to itsoriginal position.

single (completion)A positioning action completion code that causes positioning to stop after thetarget position has been reached.

Special I/O UnitA dedicated Unit, such as a Position Control Unit, High-Speed Counter Unit,or Analog Timer Unit, which is designed for a special purpose.

Glossary

145

speed coefficientAn IR area setting which determines the coefficient with regard to the targetspeed.

speed numberA number used to designate (as a parameter for an operation) one of fifteenspeeds registered in memory.

speed unitA word in the DM area which can be set to multiply the speed to which it isassigned by a factor of one or ten.

target positionA parameter for a positioning action that designates what position is to bereached at the completion of the action.

teachingWriting the present position into the DM area of the PC as the target positionfor the designated positioning action.

trapezoidalacceleration/deceleration

Accelerating and decelerating in a stepwise pattern such that a trapezoidalfigure is formed.

unit numbersNumbers assigned to Position Control Units for the purpose of allocating spe-cific I/O words to each Unit.

work bitsIR area bits that can be used for data calculation or other manipulation inprogramming. In the IR area, all bits not used as input or output bits can beused as work bits.

zoneA range of positions which can be defined so that flags are turned ON when-ever the present position is within the range. Up to three zones, each with itsown flag, can be defined.

147

Index

A–Babsolute values, 49

acceleration, setting for START, 45

alarms, 112alarm code list, 119–121alarm codes, 68alarm flag, 68

application precautions, xiii

AR Area, restart flag, 28

backlash compensation, using, 37

bank end (completion code), 47

bypass resistance, 18

Ccables, 22, 23

CCW limitsfor zones, 35internal, 37reached during ORIGIN SEARCH, 58recovery from exceeding, 65, 67

CCW pulse outputs, 28

closed–loop systems, 5

commandsCHANGE SPEED

external interrupt

HIGH–SPEED JOG !"!!" #

LOW–SPEED JOG !"!!" #

ORIGIN SEARCH $###

START%& '&

STOP '( )*)+,--./* 0/"+,--./* /1*2,-31!) &

,4314(&#

TEACH, setting positioning action number, 70TRANSFER DATA5( 67 67

#67 (67 #67 &67 !% ( & !67 !67 #(

completion codes, 46, 47execution example, 51

completion patternswith an origin proximity signal, 60without an origin proximity signal, 62

connector pins, 14

connectorsassembling, 15wiring to, 14

continuous (completion code), 47

CPU Racks, 4mounting to, 4

CW limitsfor zones, 35reached during ORIGIN SEARCH, 58recovery from exceeding, 65, 67

CW pulse outputs, 28

Ddata coding, 33

data configuration, basic chart, 30

data flow diagram, 7

data transfer, 2

debugging, 33

deceleration, setting for START, 45

digital–to–analog converters, 6

DIP switch, 4settings, 2, 12settings for external interrupt, 82settings for origin proximity signal, 105

Index

148

settings for origin signal, 105

direction signal outputs, 28

DM Areaallocations, 127coding sheet, 33, 103minimum data settings, 92, 99settings for external interrupt, 82transferring data from, 29writing data into, 28writing into with TEACH, 69

dwell time, 47execution example, 54

Eemergency stop, 65

flag, 67recovery after, 66

error counters, 7, 9

errorsBCD errors, 112error code generation, 112error code list, 123–126error codes, 68error flags, 68, 113no–data errors, 112out–of–range data errors, 112

Expansion I/O Racks, 4

extended (completion code), 47

external I/O connections, 13

external interrupt, response time, 41

external interrupt signal, connection for, 82

F–Gfeedback, 5, 8

flags, 36alarm flag, 68busy flag, 54, 68 4132,8-1343

emergency stop flag, 67error flags, 68, 113no–origin flag, 69positioning completed flag, 54

grounds, 17, 23

HHand–held Programming Console, 5

high speed number, setting for ORIGIN SEARCH, 56

host computers, 4

II/O circuits, wiring, 15–24

I/O connector pins, 14

I/O refresh areas, 28, 29, 50

IN refresh area, 29

increment values, 49

indicators (LEDs), 3

initial positioning action number, setting for START, 44, 50

initial speed number, setting for START, 44

Input Units, 4, 5

IR Area, allocations, 31, 133detailed table, 135

Mmagnetizing distribution circuits, 7

manual operation, 2

mode switch, 12

MONITOR mode, 29

motor drivers, 3, 18

mounting, location, 4

NN.C. inputs, 17

N.O. inputs, 17

noise (electronic), prevention, 22, 23

noise filters, 23

nondirectional pulse outputs, 28

Oopen collector output, 18

open–loop systems, 4, 5

operating environment precautions, xiii

origin compensation, 60, 61, 62, 63setting for ORIGIN SEARCH, 56

origin proximity, 57

origin proximity signals, 57, 60, 63

OUT refresh area, 28

output code, 48

Index

149

Ppause (completion code), 46

positioning actionsbank end, 44, 476,43147&

continuous, 47errors in data for, 112extended, 47initial positioning action number, 44, 50pause, 46setting positioning action number for TEACH, 70single, 466,43147&

power amplifiers, 7, 9

power lines, 22

power supply, 5, 16, 175–VDC, 20

precautionsapplication, xiiigeneral, xioperating environment, xiii

present positionchanging with TRANSFER DATA, 2, 72setting for TEACH, 70when using TEACH, 69writing in with TEACH, 2

PROGRAM mode, 29

Programming Consoleprogramming examples, 92reading error/alarm codes from, 68three–channel change operation, 28used for teaching, 70writing data via the, 28

proximity sensors, 17, 55

proximity speed number, setting for ORIGIN SEARCH, 56

pulse frequency, calculation, 8

pulse generators, 7

pulse output, prohibited, 65

pulse trains, 3, 7, 8, 18counting pulses, 116measuring frequency, 116

RRemote I/O Master Units, 4

Remote I/O Slave Units, 4

resistance, bypass, 18

restart bits, 28, 29, 114

rotary encoders, 6, 7, 9

Sscan time, 42

search patterns, 106with origin proximity signal, 57without origin proximity signal, 58

semiclosed–loop systems, 4, 6

servolock, 9

servomotor drivers, 2, 3, 5, 6, 7, 9connection wiring diagram, 21

servomotors, 5, 7, 9

signals, origin proximity, 57, 58, 60

single (completion code), 46

solenoids, 22

Special I/O Units, maximum number connectable to PC, 4

specifications, 137

speed coefficient, setting for START, 51

speed number, setting for ORIGIN RETURN, 63

speed units, setting for START, 45

speedscalculating data for, 38setting for START, 45

starting the Position Control Unit, 28

stepping motor drivers, 2, 3, 5, 7connection wiring diagram, 21

stepping motors, 5, 7angle of rotation, 7

surge absorbers, 22, 23

switchescapacity, 17CCW limit, 13CW limit, 13DIP switch, 12emergency stop, 65mode, 12origin, 13origin proximity, 13unit number, 12

system configuration, diagram, 5

Ttable creation, 40

tachogenerators, 6, 7, 9

target position, setting for START, 48

target speed number, setting for START, 48

thumbwheel switches, 99

trapezoidal acceleration/deceleration, 39

twisted pair cable, 23

Index

150

U–Zunit number, switch setting, 12

up/down counters, connections to, 117

valid initial positioning action number, setting for START, 50

valid speed coefficient, setting for STOP, 50

wiringassembling connectors, 15connector pins, 14external I/O connections, 13I/O circuit diagrams, 16I/O circuits, 15–24input connections, 17output connections, 18output example diagrams, 19, 20, 21precautions, 22soldering, 14to connectors, 14with multi–core cable, 14

zonesCW and CCW limits for, 35flags, 36

151

Revision History

A manual revision code appears as a suffix to the catalog number on the front cover of the manual.

Cat. No. W137–E1–04

Revision code

The following table outlines the changes made to the manual during each revision. Unless noted, page num-bers refer to the previous version.

Revision code Date Revised content

1 1990 Original production

2 1990 Minor corrections

3 April 1991 The format was updated to present standards.Pages for the following corrections refer to version 3.Page 12: “ch n” corrected to “word n” and arrows added.Page 18: Amperages corrected in diagrams.Page 21: Manufacturer of stepping motor provided.Page 22/108: “Marketed in Japan” added for Servomotor Driver.Page 28: Diagram and Programming Console display corrected.Page 69: Programming Console displays corrected.Pages 72/75/78: Diagrams clarified.Pages 92/101: C200H-PR027 corrected to C200H-PRO27-EPage 104: Content of rightmost digit in word 00 corrected to “2.”Page 139: Power supply voltages provided for CPUs.Corrections were also made to graphics on the following version 3 pages:

54, 55, 60, 61, 62, 63, 64, 66, 69, 71, 80, 81, 83, 85, 86, 87, 88, 89

04 May 2004 Page v: Entire page except for copyright notice redone.Page ix: Warning added to bottom of page.Page 1: PLP section added.Page 14: Last part of caution deleted and caution reformated.Page 15: Graphic added at upper right of page.Page 18: Caution added.Page 20: Note added in middle of page.Page 98: Bottom portion of ladder diagram changed.Page 104: Second digit in word 00 corrected.Page 116: Last sentence in third paragraph deleted.Page 119: Description of 1502–1515 rewritten.Page 121: Descriptions of 2001–2019 and 2101–2119 rewritten.Page 135: Sentence added at end of description of bit 12.

OMRON CorporationFA Systems Division H.Q.66 Matsumoto Mishima-city, Shizuoka 411-8511 JapanTel: (81)55-977-9181/Fax: (81)55-977-9045

Regional Headquarters

OMRON EUROPE B.V.Wegalaan 67-69, NL-2132 JD HoofddorpThe NetherlandsTel: (31)2356-81-300/Fax: (31)2356-81-388

OMRON ELECTRONICS LLC1 East Commerce Drive, Schaumburg, IL 60173U.S.A.Tel: (1)847-843-7900/Fax: (1)847-843-8568

OMRON ASIA PACIFIC PTE. LTD.83 Clemenceau Avenue, #11-01, UE Square,Singapore 239920Tel: (65)6835-3011/Fax: (65)6835-2711

Cat. No. W137-E1-04 Note: Specifications subject to change without notice. Printed in Japan0504

Authorized Distributor:

This manual is printed on 100% recycled paper.

No. 6182
OMRON Corporation
Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Read and Understand this Manual

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

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No. 6182

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

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No. 6182

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other reasons.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

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Documents

SYSMAC C200H-NC111 Position Control Unit